ts-pyamaha single-axis robot controller...• emc (electromagnetic compatibility) yamaha robots are...

User’s Manual ENGLISH E

TS-PYAMAHA SINGLE-AXIS ROBOT CONTROLLER

IM Operations882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.JapanURL http://www.yamaha-motor.jp/robot/index.html

YAMAHA MOTOR CO., LTD.

E113-Ver. 5.01

i

Introduction

IntroductionThank you for purchasing the TS-P Controller (hereafter referred to simply as "Controller"). Please read this manual carefully to ensure correct and safe use of this controller.

Main functionsFunction Explanation Reference Section

Positioning operation

Moves the robot slider to the specified position. There are 4 types of position operation:

1. Positioning operation Section 5.3 "Positioning operation".

2. Positioning merge operation Section 5.3.3

"Positioning merge operation".

3. Push operation Section 5.3.4 "Push operation".

4. Decel. Push Section 5.3.5 "Deceleration push operation".

* Positioning can be specified in an "absolute position" or "relative position" format.

Point data

Specifies the slider position (point).Up to 255 points of point data can be handled.Each point includes the following elements:RUN Type, Position, Speed, Accel., Decel., Push Force, Zone (-), Zone (+), Near Width (In-Position Zone), Jump, Flag, Timer.

Section 3.2 "Point data".

Point table type setting

The "point data type" setting can be selected as "Standard setting" or "Custom setting". This is possible only from the support software.

Section 3.2 "Point data".

Origin search Performs an origin search (return-to-origin) simply by entering a return-to-origin command.

Section 5.1 "Operation procedure".Section 5.2 "Origin search".

JOG operation and current position teaching

Robot JOG operation and current position teaching can be performed from the host controller.

Section 5.3 "Positioning operation".

Soft limit function

Sets the robot's movement range. This function is used to avoid collisions, etc., when obstacles are present.

Section 5.7.1 "Soft limit function"

Output function

The following statuses can be selected and output to the host controller.Point No. output, alarm No. output, zone output, personal zone output, near output (in-position zone output), push status, origin return completion status, warning output, movement-in-progress output, manual mode status.

Section 4.3 "I/O signal details".

Alarm history

Saves up to 50 of the most recent alarms. The following elements are saved:Cause, start time, position, speed, operation status, operation point, elec. current, voltage, input, output.

Section 6.2 "Alarm recording function".

Operation modes Exclusive I/O and communication control is possible. Section 5.6 "Operation modes".

Support tools

HT1 (Handy Terminal)Offers point and parameter data editing/monitoring functions.TS-Manager (PC software for Windows)Support software for data designing, debugging, maintenance, and management.TS-Monitor (LCD monitor)LCD monitor integrated with the controller main body that displays the various statuses, current position, and alarm information.

HT1 Operation Guide

Section 5.8 "TS-Monitor (Option)"

ii

About this manual

iii

About this manualThis manual is divided into 3 main parts: Safety Cautions, Controller Guide, and a Supplement (HT1 Operation Guide, Communication Command Guide, Daisy Chain Guide). In order to use the controller and optional devices in an efficient manner, users should read the parts which are pertinent to the objective in question. Moreover, after reading this manual, keep it on hand for easy referencing as needed, and always make it available to the end user.

Configuration of this manual

Contains the handling cautions related to the controller and the optional Handy Terminal. Be sure to read these cautions before using the equipment, and strictly observe them at all times.

Explains the controller functions, as well as the controller installation and operation procedures. Be sure to read this section before operating the controller, and strictly observe the instructions at all times.

• Safety Cautions

• Controller Guide

Be sure to read this section before writing the data, such as parameter or point data, or operating the robot using a communication unit, such as a personal computer through the RS-232C communication.

Communication Command Guide

Explains the daisy chain function of the TS series robot controllers.

Daisy Chain Guide

• Supplement

HT1 Operation Guide

Explains the procedures for using the HT1 (Handy Terminal) to edit point data, and to operate the robot, etc.

Use any of the following methods for referencing this manual content during controller installation, operation, and adjustment procedures.

Keep this manual close at hand for referencing when performing ■

installation, operation, and adjustments.

Display the CD-ROM version of this manual onscreen for referencing ■

when performing installation, operation, and adjustments.

Print out the required pages of this manual from the CD-ROM in ■

advance, and use them for reference when performing installation, operation, and adjustments.

Although every effort was made to ensure that this manual content is accurate and complete, please contact YAMAHA if errors, misprints, or omissions are found. For information related to the robot unit, support software, and other optional devices, please refer to the operation manuals for those items.

ii iii

Safety alert symbols and signal words

Safety alert symbols and signal wordsThe following safety alert symbols and signal words are used in this manual to describe safety concerns, handling precautions, prohibited or mandatory action and key points when using this product. Make sure you fully understand the meaning of each symbol and signal word and comply with the instructions.

DANGER

"DANGER" indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.

WARNING

"WARNING" indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.

CAUTION

"CAUTION" indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury or damage to the equipment or software.

Indicates a prohibited action related to the handling of this product. Read the

content carefully to ensure that the prohibited action is not performed.

[Example]

Indicates a mandatory action related to the handling of this product. Read the

content carefully to ensure that the mandatory action is performed.

[Example] Mandatory action

Cut off power

iv

CE marking

v

CE marking

1. Safety standard

Cautions regarding compliance with EC Directives ■

The YAMAHA robot (robot and controller) is not, in itself, a robot system. The YAMAHA robot is just one component that is incorporated into the customer's system (built-in equipment), and YAMAHA robots are in compliance with the EC Directives as they apply to built-in equipment. Therefore, this does not guarantee EC Directive compliance in cases where the robot is used independently. Customers who incorporate a YAMAHA robot into a system which will be shipped to, or used in, the EU, should therefore verify that the overall system is compliant with EC Directives.

• Differences between a YAMAHA robot (robot and controller), and a robot system:

A YAMAHA robot (robot and controller) is just one component in a robot system, and is not,

in itself, a robot system.

This is because a YAMAHA robot does not include the "end effectors" or "any equipment,

devices, or sensors required for the robot to perform its tasks", as defined in the EN10218-

1:2006 Standard, Item –3.20.

Applicable EC Directives and their related standards ■

The following table lists the Directives (and related standards) which apply to the robot's CE Marking compliance.

EC Directive Related Standards

Machinery Directive 2006/42/EC

EN ISO12100-1 : Safety of machinery - Basic concepts Part1EN ISO12100-2 : Safety of machinery - Basic concepts Part2EN ISO14121-1 : Safety of machinery - Risk assessmentEN60204-1 : Safety of machinery - Electrical equipment of machines

EMC Directive 2004/108/EC

EN 55011 : EMC Emission of ISM EquipmentEN 61000-6-2 : EMC Immunity for Industrial Environments

Referred standards: EN ISO10218-1: Safety requirements - Part1:Robot

Cautions regarding the official language of EU countries ■

For YAMAHA robots that will be installed in EU countries, the language used for the user's manuals, CE declarations, and operation screen characters is English only, except for warning labels.Warning labels only have pictograms or else include warning messages in English. In the latter case, Japanese language messages might be added.

iv v

CE marking

2. Safety measures

Usage Conditions ■

The usage conditions which apply to the YAMAHA robot series are described below.

• EMC (Electromagnetic Compatibility)

YAMAHA robots are designed for industrial environments. (Applicable standard relating to the EMC Directive: Refer to the EN61000-6-2 Standard, Item 1 "Scope".)

EMC Directive compliance requires that the customer have the final product (over equipment system) evaluated, with any necessary measures being implemented.

• Installation conditions· YAMAHA robots are classified as "built-in equipment", and feature a "Class

I" protective structure with regard to electrical shocks. Be sure to ground the robot and robot controller in order to ensure electrical shock protection.

· The robot controller case is not designed to meet the "enclosure" requirement specified by the EN60204-1 Standard. Suitable protection should therefore be provided to prevent contact electrical shock hazards, and to protect the controller from dust and water, etc., in the ambient environment.

· Regarding insulation coordination, YAMAHA robots are designed for the following conditions (refer to the IEC60664-1 Standard): Over-voltage category II Pollution degree 2

Suitable measures should be taken if the robot is to be used in environments more severe than those shown above.

• Explosion-proofThe robot and controller do not have explosion-proof specifications, and the robot should therefore not be used in environments exposed to flammable gases which could explode or ignite, or to gasoline and solvents, etc.

3. Robot safety measures

Electrical Shock Prevention Measures ■

Use the protective ground terminal in order to ensure safety with regard to electrical shocks. For details, refer to the robot's operation manual.

vi

CE marking

vii

4. EMC countermeasure exampleRegarding EMC directives, the customer's final product (entire system) including the YAMAHA robot must provide the necessary countermeasures. We at YAMAHA determine a model for single units of YAMAHA robots (controller, robot, and peripheral device) and verify that it complies with the relevant standards of EMC directives. In order to ensure the customer's final product (entire system) complies with EMC directives, the customer should take appropriate EMC countermeasures. Typical EMC countermeasures for a single unit of YAMAHA robot are shown for your reference.

CAUTION

The examples shown here are the countermeasures tested under our installation conditions. When our product is installed in the customer's system, the test results may differ due to the difference in the installation conditions.

● Configuration

CAUTION

As shown in the drawing below, install the ferrite cores and noise filter as close to the controller as possible. Also install another ferrite core as close to the robot as possible.

LNL1N1

ROB I/O

MOTOR

IO

COM1

EXT

RGEN

Single-axis robot

External safety circuit

Controller

Meaning of symbols

Surge absorber LT-C12G801WS : SOSHIN ELECTRIC CO., LTD.

Noise filter NAP-10-472 : COSEL CO., LTD.

Ferrite core ZCAT3035-1330 : TDK

Ferrite core ZCAT2132-1130 : TDK

Ferrite core 2 turns

Power supply(100 to 115V)(200 to 230V)

Ground I/O circuit or network

Handy Terminal with ENABLE switch

Regenerative unit

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CE marking

● Countermeasure components

(1) Surge absorber

Always install an external surge absorber to protect the controller from surge noise that may be generated by lightning. A recommended surge absorber is shown below.• Recommended surge absorber

Manufacturer : SOSHIN ELECTRIC CO., LTD.Type No. : LT-C12G801WS

Status indicatorgreen : normalred : abnormal

φ4.3

+0.3

-0.1

25 ±1

.04

33.5

±1.0

19 ±1.0

Wire (line)(Black) Wire (earth)

(Green/Yellow)

38 ±1.022.5

±1.0

250

+25

-028

±1.0

4 ±0

.5

Dimensional outline

Unit: mm

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CE marking

ix

(2) Noise filter

Always install an external noise filter to reduce conduction noise to the power supply line.A recommended noise filter is shown below.• Recommended noise filter

Manufacturer : COSEL CO., LTD.Type No. : NAP-10-472

Dimensional outline

Terminal block cover

Input

Mounting hole

Output

Input

Output

* Terminal cover is closed

Type No. label

2-φ4.8

6-M4

Protective earth (PE)

Terminal block cover

Mounting plate

±0.582

92

77

15 53

±0.

545

12

41(2

)

8

(3.5) 27

Tolerance: ±1Unit: mm

(3) Ferrite core

Install ferrite cores according to the customer's final product (entire system). Recommended ferrite cores are shown below.・Recommended ferrite core 1

Manufacturer : TDKType No. : ZCAT3035-1330

39.0±1

34.0±1

30.0±1

13.0±1

Dimensional outline

Unit: mm

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CE marking

・Recommended ferrite core 2

Manufacturer : TDKType No. : ZCAT2132-1130

20.5±1

11.0±1

36.0±1

32.0±1

Dimensional outline

Unit: mm

x

Safety cautions

xi

Safety cautionsThe controller was designed and manufactured with ample consideration given to safety. However, incorrect handling or use may lead to injury, fire, electrical shocks, or other accidents or equipment failures. To prevent possible problems, be sure to observe the following safety cautions at all times.Also carefully read the safety cautions listed in the robot user's manual and follow all instructions given there.

DANGER

Never enter the robot movement range during operation. Entering the movement range while the robot is in motion could result in serious accidents or death. A safety enclosure or area sensor with a gate interlock function should be installed to keep all persons safely out of the robot's movement range.

Always turn the main power breaker OFF and establish an "emergency stop" status before performing tasks within the robot's movement range. Failing to do so could result in serious accidents or death. (See Section 2.8 "Connecting the EXT connector".)

The controller and robot were designed as general-purpose industrial equipment, and cannot be used for the following applications. · In medical equipment systems which are critical to human life. · In systems which significantly affect society and the general public.· In environments which are subject to vibration, such as aboard ships and vehicles.

For safety purposes, be sure to install an "emergency stop" circuit. Use the controller's "emergency stop" input terminal to install a main power shutoff circuit (required).

x xi

Safety cautions

WARNING• Installation environment

Use only in environments where the prescribed ambient temperature and humidity are maintained. Usage in other environments could cause electrical shocks, fires, malfunctions, and product deterioration.

Do not use in environments which are subject to vibration and impact shocks, electromagnetic interference, electrostatic discharges, and radio frequency interference. Usage in these environments could cause malfunctions and equipment failure.

Do not use in environments which are exposed to water, corrosive gases, metal cutting chips, dust, or direct sunlight. Usage in these environments could cause malfunctions and equipment failure.

Do not use in flammable or explosive environments. Usage in these environments could hamper operating tasks, and could possibly cause injuries.

Provide ample space to ensure that tasks (teaching, inspections, etc.) can be performed safely. Failing to provide adequate space makes tasks difficult to perform, and can cause injuries.

Secure the equipment firmly to a non-flammable vertical wall of metal material. The controller and the regenerative unit become hot during operation, and must be secured to a metal wall in order to prevent the risk of fires.

Install in a well ventilated site with ample space around the equipment. Failing to do so could cause malfunctions, equipment failure, and fires.

xii

Safety cautions

xiii

• Wiring and connections

Always shut off the power to the controller before performing wiring work and connecting cables. Failing to do so could result in electrical shocks and equipment failure.

When connecting cables, use care to avoid subjecting the connectors to impact shocks or excessive loads. Failing to do so could result in connector pin deformation, and internal PCB damage.

Handle cables with care to avoid damaging them. Do not attempt to modify the cables, and avoid pulling them or placing heavy objects on them. These actions could damage the cable, possibly resulting in malfunctions and electrical shocks.

Be sure that cable connectors and terminals are fully inserted and securely fastened. Tighten the fastening screws securely. Failing to do so could cause a poor connection, possibly resulting in malfunctions.

Securely ground the power terminal block's ground terminal. Failing to do so could result in electrical shocks.

• Operation and handling

The controller and the HT1 should be operated only by personnel who have received safety and operation training. Operation by an untrained person is extremely hazardous.

Set the payload, acceleration, and deceleration to appropriate values. Payload, acceleration, and deceleration settings which differ greatly from the actual values will result in operation time loss, shorten the robot life, and cause vibration. Be sure to set them to appropriate values.

Do not enter the robot's movement range while power is supplied to the controller. Doing so could result in a serious accident, injury, or death.

xii xiii

Safety cautions

• Operation and handling

Do not touch the controller or robot during operation. The controller and robot unit become hot during operation, and touching them could result in burn injuries.

Do not remove the controller or HT1 covers, and do not attempt to disassemble or modify them. Doing so could result in fires or equipment failure.

Do not touch or operate the controller or HT1 with wet hands. Doing so could result in electrical shocks or equipment failure.

Immediately turn off the power if abnormal odors, sounds, or smoke are noticed during operation. Failing to do so could result in electrical shocks, fires, or equipment failure. Stop operation immediately, and contact your YAMAHA representative.

• Maintenance and inspection

Perform maintenance and inspection tasks only when instructions for doing so are provided by YAMAHA. Maintenance and inspections performed by a person who lacks the proper knowledge or training is extremely hazardous.

Shut off the power to the controller before performing inspections and maintenance tasks. Shut off the power and wait at least 10 minutes before beginning the tasks.Failing to do so could result in electrical shocks or burn injuries from touching areas which are still hot or from touching components where a high-voltage condition remains for a short period after a power OFF.

xiv

Safety cautions

xv

CAUTION

Use the controller and robot only in the prescribed combinations. Unsuitable combinations could result in fires and equipment failure.

Save the controller's internal data to an external memory device. The controller's internal data could be unexpectedly lost, and should therefore be backed up to an external device.

Do not use solvents such as thinner, benzene, or alcohol, etc., to wipe (clean) the HT1 surfaces. Doing so can cause the surface sheet and printing to peel off, and can cause equipment failure. The HT1 surface should be gently wiped with a soft, dry cloth.

Do not use a hard or pointed object to operate the HT1 keys. Doing so could scratch the keys and cause malfunctions and equipment failure. The HT1 keys should be operated with the fingertips.

When disposing of this product, it must be handled as industrial waste. Either dispose of the product in accordance with the local regulations, or engage a commercial disposal service to handle the disposal.

xiv xv

Warranty

WarrantyFor information on the product warranty, please contact your local agent where you purchased your product.

xvi

MEMO

Contents 1

ContentsChapter 1 Overview

1.1 Unpacking check 1-1

1.2 Part names and functions 1-1

1.3 System configuration 1-3

1.4 Installation and operation sequence 1-4

Chapter 2 Installation and wiring

2.1 Installation method 2-12.1.1 Controller main body 2-1

2.1.2 Regenerative unit (RGT) 2-2

2.1.3 Regenerative unit (RGU-2) 2-2

2.2 Installation conditions 2-3

2.3 Wiring 2-42.3.1 Power supply connection 2-4

2.3.2 Malfunction prevention measures 2-7

2.4 Connecting the robot 2-8

2.5 Connecting the communication unit 2-10

2.6 Connecting the regenerative unit 2-132.6.1 Connecting the RGT 2-13

2.6.2 Connecting the RGU-2 2-14

2.7 Connecting the I/O signals 2-15

2.8 Connecting the EXT connector 2-162.8.1 EXT connector wiring 2-16

2.8.2 EXT connector signal names and functions 2-17

2.8.3 Circuit details 2-19

2.9 Connecting the I/O unit 2-21

2.10 Safety circuit construction example 2-262.10.1 Performance level 2-26

2.10.2 Circuit configuration examples 2-27

Chapter 3 Data setting

3.1 Data overview 3-1

3.2 Point data 3-23.2.1 "Standard setting" type 3-3

2 Contents Contents 3

3.2.2 "Custom setting" type 3-4

3.3 Point data details 3-5

3.4 Parameter data 3-93.4.1 Parameter list 3-9

3.4.2 Parameter details 3-12

Chapter 4 I/O signal functions

4.1 I/O specifications 4-14.1.1 I/O specifications 1 (NPN and PNP type) 4-1

4.1.2 I/O specifications 2 (CC-Link type) 4-2

4.1.3 I/O specifications 3 (DeviceNet type) 4-4

4.2 I/O signal list 4-6

4.3 I/O signal details 4-74.3.1 Input signal details 4-7

4.3.2 Output signal details 4-9

Chapter 5 Operation

5.1 Operation procedure 5-15.1.1 Overall operation timing chart 5-1

5.1.2 Alarm occurrence and clearing 5-3

5.2 Origin search (return-to-origin) 5-45.2.1 Origin point detection method 5-4

5.2.2 Origin point and coordinates relationship 5-7

5.2.3 Return-to-origin timing chart 5-8

5.3 Positioning operation 5-95.3.1 Basic operation 5-9

5.3.2 Positioning timing chart 5-13

5.3.3 Positioning merge operation 5-15

5.3.4 Push operation 5-17

5.3.5 Deceleration push operation 5-19

5.3.6 Continuous operation 5-20

5.3.7 Output function 5-21

5.3.8 Speed switch function 5-22

5.3.9 Operation examples 5-23

5.4 MANUAL mode 5-265.4.1 MANUAL mode timing chart 5-26

5.4.2 JOG movement 5-27

5.4.3 TEACH (Teaching) 5-28

5.5 Remote commands 5-29


5.5.1 Overview 5-29

5.5.2 Remote command list 5-29

5.5.3 Timing chart 5-32

5.5.4 Query 5-33

5.5.5 Point data writing 5-34

5.5.6 Point data reading 5-35

5.5.7 Parameter data writing 5-36

5.5.8 Parameter data reading 5-37

5.6 Operation modes 5-38

5.7 Other functions 5-395.7.1 Soft limit function 5-39

5.7.2 Zone output function 5-39

5.7.3 Alarm No. output function 5-40

5.7.4 Changing the payload 5-40

5.7.5 Magnetic pole position estimation 5-41

5.7.6 LED status indicators 5-41

5.8 TS-Monitor (Option) 5-425.8.1 Opening or closing the TS-Monitor 5-42

5.8.2 Changing the screen 5-43

5.8.3 Screen configuration and meaning 5-44

5.8.4 Screen color in case of alarm 5-49

5.8.5 SETUP screen 5-49

Chapter 6 Troubleshooting

6.1 Alarm groups 6-1

6.2 Alarm recording function 6-1

6.3 Alarm list 6-2

6.4 Alarms: Possible causes and actions 6-3

Chapter 7 Specifications

7.1 TS-P specifications 7-17.1.1 Basic specifications 7-1

7.1.2 Dimensional outlines 7-2

7.2 I/O interface specifications 7-37.2.1 NPN 7-3

7.2.2 PNP 7-3

7.2.3 CC-Link 7-3

7.2.4 DeviceNet 7-4

7.3 TS-Monitor specifications 7-5


7.3.1 Basic specifications 7-5

7.3.2 Dimensional outlines (TS-P with TS-Monitor) 7-5

7.4 Regenerative unit specifications 7-77.4.1 Dimensional outlines (RGT) 7-7

7.4.2 Dimensional outlines (RGU-2) 7-7

HT1 Operation Guide

Introduction H-1

1. What the HT1 does H-21.1 HT1 panel layout H-3

1.2 Connecting to the external safety circuit (HT1-D) H-5

2. Connecting or disconnecting the HT1 H-72.1 Connecting to the controller H-7

2.2 Disconnecting from the controller H-9

3. Basic operations H-103.1 Operation key layout and functions H-10

3.2 Screen configuration H-11

3.3 Starting to use the keys H-13

3.4 How to enter numbers H-17

3.5 Menu structure H-18

4. Editing the point data H-194.1 Point teaching H-19

4.1.1 Teaching playback H-19

4.1.2 Direct teaching H-22

4.2 Copying point data H-23

4.3 Deleting point data H-24

4.4 Displaying a list of point data H-25

5. Parameter setting H-265.1 Setting Run parameters H-26

5.2 Setting I/O parameters H-28

5.3 Setting Option parameters H-29

5.4 Setting Servo parameters H-30

6. Operating the robot H-316.1 Turning the servo on or off H-31

6.2 Origin search (return-to-origin) H-32

6.3 Operating the robot H-34

6.4 Resetting an alarm H-36

7. Monitor functions H-377.1 I/O monitor H-37

7.2 Status monitor H-38


7.3 Run monitor H-39

7.4 Alarm display H-40

7.5 Warning display H-41

7.6 Message display H-42

7.7 Alarm record display H-43

7.8 Information display H-44

8. Other functions H-458.1 Operation mode H-45

8.2 Setting mode H-468.2.1 Changing the display language H-46

9. Specifications H-479.1 Basic specifications H-47

9.2 Dimensional outlines H-479.2.1 HT1 H-47

9.2.2 HT1-D H-48


Introduction C-1

1. Communication specifications C-21.1 Communication parameter specifications C-2

1.2 Communication command specifications C-2

2. Communication command lists C-3

3. Communication command description C-53.1 Robot operation commands C-5

Positioning operation (START) C-5

Operation stop (STOP) C-5

Return-to-origin (ORG) C-6

JOG movement (JOG+, JOG-) C-6

Inching movement (INCH+, INCH-) C-7

3.2 Status change commands C-8Servo status change (SRVO) C-8

Brake status change (BRK) C-8

Reset (RESET) C-8

3.3 Edit commands C-9Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T) C-9

Point data writing 2 (P_, S_, AC_, DC_, Q_) C-10

Current position teaching (TEACH) C-11

Point data copying (COPY) C-11

Point data deleting (DEL) C-12

Parameter data writing (K) C-12

Automatic node number setting (SETID) C-13

3.4 Query commands C-14Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T) C-14

6 Contents

Parameter data reading (?K) C-15

Status data reading (?D) C-16

Input/output information reading (?IN, ?INB, ?OUT, ?OUTB) C-17

Word input/output information reading (?WIN, ?WOUT) C-18

Option information reading (?OPT, ?OPTB) C-19

Alarm/warning information reading (?ALM, ?WARN) C-20

Daisy Chain Guide

Introduction D-1

1. Installation and wiring D-21.1 Installation D-2

1.2 Wiring D-3

2. Node number setting D-62.1 Automatic node number assignment function D-6

2.1.1 Performing automatic node number assignment D-6

2.1.2 When controllers with same node number exist on network D-8

2.2 Switching of controllers D-10

3. Writing and transferring saved and newly made data D-123.1 Writing data to controller D-12

3.2 Transferring data to controller D-15

Index

Index (Controller) 1

Index (HT1) 3

4

1

2

3

5

6

7

Chapter 1 Overview

Contents

1.1 Unpacking check 1-1

1.2 Part names and functions 1-1

1.3 System configuration 1-3

1.4 Installation and operation sequence 1-4

Chapter 1 Overview 1-1

4

1

2

3

5

6

7

4

1

2

3

5

6

7

1.1 Unpacking check


1.1 Unpacking checkThe following accessories are shipped together with this product.

Controller 1 unit

Power connector 1 piece With wire-release lever

EXT connector 1 piece With wire-release lever

Dummy connector 1 piece For COM1 connector

I/O cable 1 piece For NPN and PNP

The accessories vary according to the shipment configuration. For details, contact YAMAHA or the sales outlet.

1.2 Part names and functions

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

ABS.BATTERY

COM2

BAT

Part names and functions

ControllerUnit's top cover inan open condition

• Communication connector 1 (COM1) Connector for connection to a

communication unit, such as HT1 or a personal computer.

• Robot I/O connector (ROB I/O) Dedicated connector for robot I/O

signals such as position signals and origin sensor signals, etc.

• Regenerative unit connector (RGEN) Connector for the regenerative

unit connection.

• Rating nameplate (on side face of unit body)

• Communication connector 2 (COM2)

Connector for the daisy-chain or LCD monitor connection.

• Status indicator lamps (PWR, ERR) The controller status is indicated

by LED lamps. (See Section 5.7.6 "LED status indicators".

• EXT connector (bottom face of unit body) Connector for brake power input and

external safety circuit inputs/outputs.

• Serial No.

• Power supply connector Connector for main power

and control power input.

• CHARGE lamp This lamp is lit while the power is

supplied to the main power supply of the controller. The lamp is lit continuously while the voltage remains in the controller even after the power to the controller has been shut down.Use the lighting status of this lamp as reference that the voltage remains in the controller.

• Motor connector (MOTOR) Connector for the servo motor's

power line connection.

• I/O connector (I/O) Connector type is selected (NPN,

PNP, CC-Link, or DeviceNet) when purchased.

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1.2 Part names and functions

1-2 Chapter 1 Overview Chapter 1 Overview 1-3

Part names (TS-Monitor)

LCOM1

● � button, � buttonChanges the screen or performs various operations on the SETUP screen.

● LCD panelDisplays various statuses, current position, and alarm information.

WARNING

• Do not push or strike the LCD panel with a sharp or hard object. Doing so might cause the LCD panel to break.

• The liquid (liquid crystal) contained in the LCD panel is a hazardous substance. If this fluid leaks from the LCD panel due to damage and adheres to your skin or clothing, wash it off immediately with soap and water. After that, consult a physician.

TIPSee section “5.8 TS-Monitor (Option)” for details about operation and display of the TS-Monitor.

LED names (CC-Link)N1

RGEN

I/OROB

CHARGE

200VL1

MOTOR

I/O

● L RUNGreen when lit.

● L ERR.Red when lit.

● SDOrange when lit.

● RDOrange when lit.

TIPSee section "7.2.3 CC-Link" for details of LED indicator lamp meanings.

LED names (DeviceNet)N1

RGEN

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

MS

NS● NS

Green/Red when lit.

● MSGreen/Red when lit.

TIPSee section "7.2.4 DeviceNet" for details of LED indicator lamp meanings.

1-2 Chapter 1 Overview

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1.3 System configuration


1.3 System configuration

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

System configuration diagram

Controller

• Single-axis robot This refers to the PHASER

series.

• I/O control Chuck, limit switch,

and PLC, etc.

• Regenerative unit The regenerative unit is an

optional item.

• HT1 or support software The HT1 and support software

(TS-Manager) and connection cable are optional items. FUNCCLR

RUN STOP

HT1

Regenerative unit (RGT, etc.)

TS-Manager

PHASER series

Chuck, limit switch, etc.

External control (PLC, etc.)

RGEN

Personal computer, etc.

• RS-232C controlPersonal computer, etc.

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1.4 Installation and operation sequence

1-4 Chapter 1 Overview

1.4 Installation and operation sequenceThe basic sequence from controller installation to actual operation is shown below.

· Payload setting· Soft limit setting

Chapter 2 ”Installation and wiring”

Chapter 3 "Data setting"

Chapter 4 "I/O signal functions"Chapter 5 "Operation"

Chapter 6 "Troubleshooting"

Chapter 4 "I/O signal functions"Chapter 5 "Operation"

· Machine reference check

· Verifying that operation can be executed from the host unit.· Operation pattern and peripheral device matching· Point data adjustment

· Check by LED status indications· Check the alarm No.· Correct the alarm cause

· Robot operation check

Installation

Power ON

· Cable and connector wiring and connection· Ground connection· Building the "emergency stop" circuit

Alarm cause correctionNo

· Parameter setting· Point data creation

Operation

Origin return

JOG operation

Trial operation, adjustment, teaching

Alarm occurs?

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Chapter 2 Installation and wiring

Contents

2.1 Installation method 2-1

2.1.1 Controller main body 2-1

2.1.2 Regenerative unit (RGT) 2-2

2.1.3 Regenerative unit (RGU-2) 2-2

2.2 Installation conditions 2-3

2.3 Wiring 2-4

2.3.1 Power supply connection 2-4

2.3.2 Malfunction prevention measures 2-7

2.4 Connecting the robot 2-8

2.5 Connecting the communication unit 2-10

2.6 Connecting the regenerative unit 2-13

2.6.1 Connecting the RGT 2-13

2.6.2 Connecting the RGU-2 2-14

2.7 Connecting the I/O signals 2-15

2.8 Connecting the EXT connector 2-16

2.8.1 EXT connector wiring 2-16

2.8.2 EXT connector signal names and functions 2-17

2.8.3 Circuit details 2-19

2.9 Connecting the I/O unit 2-21

2.10 Safety circuit construction example 2-26

2.10.1 Performance level 2-26

2.10.2 Circuit configuration examples 2-27

Chapter 2 Installation and wiring 2-1

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2.1 Installation method

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2.1.1 Controller main bodyUse the mounting screw holes to install the controller on a vertical wall in the manner shown below.

Installation

Installation screws ■

Use the following screw type for installation.

Mounting Area Thickness Hole Dia. Recommended Screw Recommended Tightening Torque

4mm 5.4 M5 1.5 N·m

2-2 Chapter 2 Installation and wiring


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2.1.2 Regenerative unit (RGT)Use the back plate of the RGT to install it on a vertical wall in the manner shown below.

Installation Back plate

RGEN



Mounting Area Thickness Hole Dia. Recommended Screw Recommended Tightening Torque

2mm 5.5 M5 1.5 N·m

2.1.3 Regenerative unit (RGU-2)Use the L-shape mounting fixtures to install the RGU-2 on a vertical wall.The L-shape fixtures are factory-attached to the front side prior to shipment, but they can be attached to the rear side as shown in the figure below.

Installation

L-shape mounting fixture

P

N

RGEN

L-shape mounting fixture



Mounting Area Thickness Groove width Recommended Screw Recommended Tightening Torque

2mm 5.5mm M5 1.5 N·m

2-2 Chapter 2 Installation and wiring Chapter 2 Installation and wiring 2-3

2.2 Installation conditions

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2.2 Installation conditions

Installation location ■

Install the controller inside the control panel.

Installation direction ■

Install the controller on a vertical wall.

Surrounding space ■

Install the controller in a well ventilated location, with at least 20mm of space on all sides of the controller (see the figure at right).

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

20mm or more

20mm or more

20mm or more

20mm or more

Ambient operating temperature and ■

humidityThe controller's ambient operating temperature and humidity must be maintained within the following ranges.· Ambient temperature : 0 to 40˚C· Ambient humidity : 35 to 85% RH (no condensation)

Environments to be avoided ■

To ensure safe and correct controller operation, avoid using the controller in the following environments.· Environments which contain corrosive gases

such as sulfuric acid or hydrochloric acid, or where flammable gases and liquids are present in the atmosphere.

· Environments with excessive dust.· Environments which contain metal cutting chips,

oil, and water, etc., from other machinery.· Environments subject to excessive vibration.· Environments where electromagnetic noise or

electrostatic noise is generated.· Environments exposed to direct sunlight.

CAUTION

·

·

·

Do not install the controller upside down or at an angle. Doing so could reduce the cooling capacity and cause performance deterioration or malfunctions.Provide the prescribed spacing between the controller and the inner face of the control panel, and between the controller and other devices.Avoid using the controller in environments other than those specified. Usage in inappropriate environments could cause product deterioration and malfunctions.


2.3 Wiring

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2.3 Wiring

2.3.1 Power supply connection

Power supply connection examples ■

• For 200VAC power supply:

AC IN

L

N

L1

N1

Wiring breaker

Controller

200VAC

Noise filter

Surge absorber

Electromagneticcontactor

• For 100VAC power supply:

AC IN

L

N

NC

Wiring breaker

100VAC

Noise filter Electromagneticcontactor

Surge absorber

Controller

L1

N1

CAUTION

· Be sure that the power supply voltage and the terminal connections are correct. Incorrect voltage and connections could cause an equipment failure.

· Shut the control power off while in a "servo off" condition.


2.3 Wiring

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Power supply connector terminal names and functions ■

Power supply connector (TS-P 205, 210, 220 200VAC specs.)

Signal Name Description

L Main power input200 to 230VAC ±10%, 50/60HzN

L1 Control power input200 to 230VAC ±10%, 50/60HzN1

Power supply connector (TS-P 105, 110 100VAC specs.)

Signal Name Description

L Main power input100 to 115VAC ±10%, 50/60HzN

NC No connection

L1 Control power input100 to 115VAC ±10%, 50/60HzN1

Power supply connector wiring procedure ■

1. Wire requirements

The usable wire size is shown below. Strip the sheath from the wire, and use in that condition.

· 1.25sq (AWG16) or larger

8 to 9mm

2. Connection method

Use either of the following methods to insert the core wire into the power supply connector's hole, then verify that the wire is locked (cannot be pulled out).

LN

L1N1

Wire-release lever

Using the accessorywire-release lever:

Using a flat-blade screwdriverFor 200VAC

For 100VAC

LN

NCL1

N1

CAUTION

· · ·

·

Unplug the power connector from the controller before wiring. Only one wire can be inserted into one wire hole of the power connector. When inserting the wire into the terminal, use care to prevent the core wire from making contact with other conductive parts. If the inserted portion of the wire is frayed, etc., cut off that portion and restrip the wire, then connect the wire securely.


2.3 Wiring

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Ground terminal ■

The controller must be grounded to prevent electrical shocks in case of electrical leakage, and to prevent equipment malfunctions due to electrical noise. A Class D or higher grounding (grounding resistance of 100 Ω or less) is required.

WARNINGBe sure that ground is securely connected.

Tighten the ground terminal screw to the torque shown below.

Recommended Tightening Torque 0.75N·m

Installing wiring breakers ■

Leakage breaker

The controller drives the motors by PWM control, thereby creating a high-frequency leakage current flow which could cause external leakage breaker malfunctions. Therefore, when installing an external leakage current breaker, be sure to select the optimum sensitivity current rating (I∆n). (Refer to the leakage breaker manufacturer's data sheets to select the optimum product compatible with inverters.)

Power Supply Type Leakage Current

Main power supply (L,N)Total 1mA

Control power supply (L1, N1)

CAUTION

1.

2.

3.4.

Leakage current is measured by a leak tester (Hioki Electric 3283), with the low-pass filter (100Hz) turned on.When using multiple controllers, use the sum of the leakage currents from each controller.Be sure that the controller is securely grounded.Stray capacitance between the cable and the FG may vary depending on the cable installation condition, causing the leakage current to fluctuate.

Circuit protector

An inrush current (several times to 10 times the rated current) occurs at the instant the controller is turned on, or at the instant robot motors begin to run. When installing an external circuit protector, select a circuit protector that provides optimum operating characteristics. (Refer to the circuit protector manufacturer's data sheets when making the selection.)

Input Power Voltage DriverRated Current

(Arms)Recommended Characteristics

200VAC

-P205 2

Medium to slow response type with inertial delay

-P210 3

-P220 7

100VAC-P105 4

-P110 6

Installing a surge absorber ■

Be sure to install an external surge absorber to protect the equipment from surge noise caused by lightning strikes.

Recommended Surge Absorber Model Manufacturer

LT-C12G801WS SOSHIN Electric Co., Ltd.


2.3 Wiring

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Installing an electromagnetic contactor ■

In order to flexibly accommodate the various safety categories required by customers, this controller is not equipped with an internal main power shutoff circuit.Please select the products that meet the required safety category, and always install an electromagnetic contactor on the main power supply side to configure an main power shutoff circuit.

TIP

Use the EXT connector to configure the emergency stop circuit. (Refer to section 2.8,

"Connecting the EXT connector".

WARNING

Be sure to install an external main power shutoff circuit and an "emergency stop" circuit.

Installing a noise filter ■

Install an external noise filter to suppress noise conductance to the power line.

Recommended Noise Filter Model Manufacturer

NAP-10-472 Cosel Co., Ltd.NF2010A-UP SOSHIN Electric Co., Ltd.

2.3.2 Malfunction prevention measures The following precautions must be taken to prevent noise related malfunctions.

1) Install a noise filter and ferrite core near the controller. Do not bundle the noise filter's primary and secondary wires together.Bad example

Noise filter

ControllerPrimary wire

Secondary wire L1

N1

LN

Ground wire

• Noise filter's primary and secondary wires are bundled together.• The ground wire and primary wire are bundled together.

2) A surge absorbing circuit must be installed at induction load (induction motor, solenoid valve, brake solenoid, relay, etc.) coils which are located near the controller.Surge absorbing circuit installation examples

• For solenoid valve and solenoid

A: Diode, varistor, CR elementDC type

B: Varistor, CR elementAC type

A B


2.4 Connecting the robot

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2.4 Connecting the robotConnect the robot cables to the robot I/O connector on the controller's front face, and to the motor connector.

Connection method ■

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

Connecting the robot

Controller

Robot I/O connector

Single-axis robot(PHASER series)

Motor connector

CAUTION

····

Shut the power off before connecting the cables.Insert the cable plug into the connector until a clicking sound is heard (fully inserted).Connect only the robot which is to be used.Always grasp the connector body when plugging in and unplugging the cables.


2.4 Connecting the robot

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Robot I/O connector signal table ■

Pin No. Signal Name Description

1 PS + Position SIN input (+)

2 PS – Position SIN input (–)

3 PC + Position COS input (+)4 PC – Position COS input (–)5 +5V +5V6 GND GND7 FG Frame ground8 Z + Linear scale Z +9 Z – Linear scale Z –

10 PG Origin sensor power 0V11 +24V Origin sensor power 24V12 ORG Origin sensor signal input

13 BK + Brake signal (+)

14 BK – Brake signal (-)


2.5 Connecting the communication unit

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2.5 Connecting the communication unitThe controller can be operated from the HT1 (Handy Terminal) or a communication device with the RS-232C interface, such as a personal computer.

· The HT1 is an optional item.

· Connection with a communication device, such as a personal computer requires a separate communication connection cable.

Connecting the controller to the HT1 ■

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

FUNCCLR

RUN STOP

Connecting to the HT1

HT1

Controller

Press the cable's connector straight into the COM1 connector after aligning its arrow mark with the COM1 connector's triangular mark (on left side, as viewed when facing the unit).

Grasp the connector when inserting

Communication connector 1 (COM1)

CAUTION

· Do not modify the USB cable. This can cause communication errors and equipment failure.

· Always grasp the connector body when connecting/disconnecting the USB cable at the controller. Pulling on the cable can cause an equipment failure.

· An incorrectly inserted connector or poor contact condition can cause malfunctions or equipment failure. Be sure that the connector is correctly and securely connected.

· When disconnecting the connector from the controller, pull the connector straight out to avoid bending the connector pins.



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■ Connecting the controller to a communication deviceMake this connection by using the optional communication cable for connection to a communication device, such as a personal computer.

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

Communication device connection

Controller

Communication connector 1 (COM1)

Communication cable

Personal computer, etc.

CAUTION

·

·

Select either the USB or D-Sub connection cable for the communication cable. To perform the communication through the USB port of a communication device, such as a personal computer, use the USB communication cable. If the D-Sub communication cable is connected to the USB port through a commercially available USB conversion cable, the operation cannot be guaranteed.

Do not modify the communication cable. This can cause communication errors and equipment failure.

· Always grasp the connector body when connecting/disconnecting the communication cable at the controller. Pulling on the cable can cause equipment failure or breaking of wire.

· An incorrectly inserted connector or poor contact condition can cause malfunctions or equipment failure. Be sure that the connector is correctly and securely connected.

· When disconnecting the connector from the controller, pull the connector straight out to avoid bending the connector pins.



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■ Connecting a dummy connectorThe provided dummy connector must be plugged into the COM1 connector when operating the controller without connecting it to a communication unit.

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

COM1 dummy connector

Controller

Dummy connector

CAUTION

An emergency stop occurs if the communication cable (or Handy Terminal cable) is unplugged while the controller power is on, and a "servo off" status is established at the robot.


2.6 Connecting the regenerative unit

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2.6 Connecting the regenerative unitThe regenerative unit absorbs regenerative current produced during motor speed reduction and radiates it as heat. A regenerative unit is required when operating certain robot models specified by YAMAHA or when handling large-inertia loads. Use the YAMAHA-specified dedicated cable to connect a regenerative unit to the controller.

2.6.1 Connecting the RGTThe following explains how to connect the RGT.

Connecting the RGT

Ground terminal

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

RGEN

ControllerRGT

Dedicatedcable

20mm or more

CAUTION

···

The power must be off when connecting the regenerative unit.Insert the cable plug into the connector until a clicking sound is heard (fully inserted).Install the regenerative unit in a well ventilated location with ample peripheral space (20mm or more).

Ground terminal ■

The controller must be grounded to prevent electrical shocks in case of electrical leakage, and to prevent equipment malfunctions due to electrical noise. A Class D or higher grounding (grounding resistance of 100 Ω or less) is required.

WARNINGBe sure that ground is securely connected.

Tighten the ground terminal screw to the torque shown below.

Recommended Tightening Torque 0.75N·m


2.6 Connecting the regenerative unit

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2.6.2 Connecting the RGU-2The following explains how to connect the RGU-2.

Connecting the RGU-2

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

P

N

Controller

RGU-2

20mm or more

Dedicatedcable

CAUTION

···

·

The power must be off when connecting the regenerative unit.Insert the cable plug into the connector until a clicking sound is heard (fully inserted).Install the regenerative unit in a well ventilated location with ample peripheral space (20mm or more).Be sure to connect the round terminal of the cable dedicated to the RGU-2 to the ground terminal of the controller securely.


2.7 Connecting the I/O signals

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2.7 Connecting the I/O signalsTwo types of I/O signal connections (I/O and EXT I/O) are provided for connection to external device such as a PLC.

PIN0

PIN7

JOＧ+

JOＧ-

MANUAL

ORＧ

/LOCＫ

START

RESET

SERVO

SRV-S

/ALM

END

ＢUSY

OUT3

OUT0

POUT7

POUT0

+COM

-COM

・・・・・・

・・・・・・

・・・・・・

・・・・・・

・・

・・

DC24VI/O（NPN）

JOG movement (+)

JOG movement (-)

MANUAL mode

Return-to-origin

Interlock

Start

Reset

Servo ON

Servo status

Alarm

End-of-operation

Operation-in-progress

Control outputsOUT 0 to 3

I/O power + common

I/O power common

EXT

+24V

0V

ES+

ES1

ES2

ES-

MPRDY1

MPRDY2

L

N

L1

N1

Main power input

Controller

DC24V

Internal power for "emergency stop" input

"Emergency stop" contact 1

"Emergency stop" contact 2

"Emergency stop" READY signal

Main power inputREADY output contact

Control power input

Point No. outputsPOUT 0 to 7

PIN 0 to 7Point No. selection

I/O wiring diagram

CAUTION

The above wiring diagram applies to an NPN type I/O unit. The wiring for PNP and serial I/O differs from the above diagram.


2.8 Connecting the EXT connector

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2.8 Connecting the EXT connector2.8.1 EXT connector wiringThe EXT connector provides functions for configuring safety circuits, including the robot.

ControllerEXT connector

(Bottom face)

Connecting to the EXT connector

CAUTIONAlways grasp the connector body when plugging in and unplugging the cable.

EXT connector wiring method ■

1. Wire requirements

The usable wire size is shown below. Strip the sheath from the wire, and use in that condition. AWG size: 28 to 20 Max. sheath outer dia.: F2.2mm

5 to 6mm

2. Connection method

Use either of the following methods to insert the core wire into the power supply connector's hole, then verify that the wire is locked (cannot be pulled out).[Using the dedicated tool]

Dedicated tool

(1) Insert the dedicated tool into the upper slot to open the spring.

(2) Insert the end of the stripped wire into the wire port until it makes contact with the back wall of the port.

(3) Remove the dedicated tool to release the spring which clamps the wire. Lightly pull the wire to verify that it is securely locked (do not pull with excessive force).



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[Using a flat-blade screwdriver]

Insert the screwdriver into the connector's top slot and press downward while inserting the stripped wire into the wire port.

CAUTION

···

·

Perform the above wiring with the EXT connector removed from the controller. Only one wire can be inserted into one wire port of the EXT connector. When inserting the wire into the terminal, use care to prevent the core wire from making contact with other conductive parts. If the inserted portion of the wire is frayed, etc., cut off that portion and restrip the wire, then connect the wire securely.

2.8.2 EXT connector signal names and functionsThe EXT connector includes signals for robot safety stops executed by an external safety circuit.

Signal List ■

Pin No. Signal Name Description

12

34

5678

1 +24VPower input for mechanical brake *

2 0V

3 ES+ Internal power for emergency stop input

4 ES1 Emergency stop contact 15 ES2 Emergency stop contact 26 ES- Emergency stop READY signal7 MPRDY1 "Main power input READY" output

contact8 MPRDY2* The mechanical brake power supply input (+24V, 0V) is not used

by this controller.

Signal Details ■

• Power input for mechanical brake (+24V, 0V)

Signal Name Description Type

+24V0V Not used by this controller. Input



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• Internal power for emergency stop input (ES+), and emergency stop READY signal (ES-)

These signals are used by the external safety circuit (e.g., safety enclosure, manual switch, etc.) in order to perform robot emergency stops.


ES+ Internal power for emergency stop input Output

ES- Emergency stop input (emergency stop READY signal) Input

Explanation

An emergency stop status is established when the relay contact between ES+ and ES- is open (OFF), and a "servo OFF" status also occurs at that time.

DANGER

Directly short-circuiting the EXT connectors ES+ and ES- signals will disable external emergency stops (including the Handy Terminal's emergency stop button), thereby creating an extremely hazardous condition. Be sure to use ES+ and ES- so that the external safety circuit functions properly.

・ Emergency stop contacts 1, 2 (ES1, ES2)

Signal NameDescription

When using Handy Terminal without an ENABLE switch

When using Handy Terminal with an ENABLE switch

ES1 Handy Terminal's emergency stop contact output 1

Connected to Handy Terminal's safety connector Pin No.14

ES2 Handy Terminal's emergency stop contact output 2

Connected to Handy Terminal's safety connector Pin No.15

Explanation

When using a Handy Terminal which has no ENABLE switch, ES1 and ES2 serve as the Handy Terminal emergency stop button's contact outputs.When using a Handy Terminal which has an ENABLE switch, ES1 is connected to Handy Terminal's safety connector Pin No.14, and ES2 is connected to Pin No.15.ES1 and ES2 should be used when building an external safety circuit.Load: 24VDC 300mA Max.

NOTE

ES1 and ES2 will be short-circuited if the accessory dummy connector is connected to COM1.

・ "Main power input READY" output contacts (MPRDY1, MPRDY2)

These signals are ON when a main power input is enabled.


MPRDY1 "Main power input READY" output

Transistor input InputMPRDY2 Transistor output Output

Explanation

These signals switch OFF when an error alarm (internal cause) occurs. Use these signals for the external safety circuit's main power ON/OFF condition judgments, etc.Load: 24VDC 300mA Max.



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2.8.3 Circuit detailsAn EXT connector and host unit connection example is shown below.

External 0V

External"emergency stop"

ES

+

ES

1

ES

2

ES

-

L1

N1

L

N

RY

External 24V

Internalpower　

ESStatus

EXT connector

COM1

Controller

NO

NC

MP

RD

Y1

MP

RD

Y2

Handy Terminal

+24V 0V

1 2 3 4 5 6 7 8

InternalGND

DANGER

In order to flexibly accommodate the various safety categories required by customers, this controller is not equipped with an internal main power shutoff circuit.Therefore, be sure to install an external main power shutoff circuit and an "emergency stop" circuit.

CAUTIONBe sure to install a surge absorber unit at the electromagnetic contactor's coil.



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Emergency stop circuit for daisy chain connection ■

External 0V

ES

+E

S1

ES

2E

S-

L1N1

LN

Internal power

ES status

EXT

conn

ecto

r

COM1

Controller

Handy Terminal

LC1D09BDInternal GND

NO

NC

MPR

DY1

MPR

DY2

ES

+E

S1

ES

2E

S-

ES status

EXT

conn

ecto

r

Controller

Internal GND

MPR

DY1

MPR

DY2

ES

+E

S1

ES

2E

S-

ES status

EXT

conn

ecto

r

Controller

Internal GND

MPR

DY1

MPR

DY2

LN

LC1D09BD

NO

NC

LN

LC1D09BD

NO

NC

External 0V

External 24VExternal 24V

Internal power

Internal power

External 0V

*1

External 0V

RY RY RY

DANGER

In order to flexibly accommodate the various safety categories required by customers, this controller is not equipped with an internal main power shutoff circuit.Be sure to configure an external main power shutoff circuit to form an emergency stop circuit.

CAUTION

Be sure to check the contact capacity of the relay contact. If the capacity is insufficient, use multiple contacts as needed. (*1 in the diagram)


2.9 Connecting the I/O unit

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2.9 Connecting the I/O unitParallel I/O (NPN type and PNP type) ■

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

Connecting a parallel I/O

Controller I/O connector

CAUTION

•

•

Use care to avoid incorrect terminal connections and short-circuits between terminals when performing the wiring work. Incorrect wiring could damage the controller. Carefully verify the terminal arrangement, using care to avoid short-circuits between terminals.The color of the cables for I/O power input (+COM) and point number outputs 0 and 1 (POUT0 and POUT1) is identical. Make the wiring, being careful not to confuse their connections. Wrong wiring may damage the controller.

Item ColorSignal Name

Terminal No.

Ou

tpu

ts

Point No. outputs 0 to 7

Brown POUT0 B1

Red POUT1 B2

Orange POUT2 B3

Yellow POUT3 B4

Green POUT4 B5

Blue POUT5 B6

Purple POUT6 B7

Gray POUT7 B8

Control output 0 White OUT0 B9

Control output 1 Black OUT1 B10

Control output 2 Brown OUT2 B11

Control output 3 Red OUT3 B12

Operation in progress Orange BUSY B13

End of operation Yellow END B14

Alarm Green /ALM B15

Servo status Blue SRV-S B16

No connectionPurple

NCB17

Gray B18

0VWhite

-COMB19

Black B20

B1

B20

A1

A20

" " mark is at thetop of terminalNo. A1.

Terminal No.

Signal Name

Color Content

A1+COM

Brown I/O power input 24VDC ± 10%A2 Red

A3NC

OrangeNo connection

A4 Yellow

A5 PIN0 Green

Inp

uts

Point No. selections 0 to 7

A6 PIN1 Blue

A7 PIN2 Purple

A8 PIN3 Gray

A9 PIN4 White

A10 PIN5 Black

A11 PIN6 Brown

A12 PIN7 Red

A13 JOG+ Orange JOG movement (+)

A14 JOG- Yellow JOG movement (-)

A15 MANUAL Green MANUAL mode

A16 ORG Blue Return-to-origin

A17 /LOCK Purple Interlock

A18 START Gray Start

A19 RESET White Reset

A20 SERVO Black Servo ON



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NPN type I/O circuit details ■

[Input circuit]

24VDC

+COM

Input

-COM

Logiccircuit

Internalcircuit

4.7kΩ

Type : DC input (plus common type) Photo-coupler isolation formatLoad : 24VDC ± 10%, 5.1mA OFF voltage :19.6Vmin (1.0mA) ON voltage :4.9Vmax (4.0mA)

[Output circuit]

Logiccircuit

Internalcircuit

24VDC

Load

+COM

Output

-COM

Type : NPN open collector output (Minus common type) Photo-coupler isolation formatLoad : 24VDC, 50mA per point



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PNP type I/O circuit details ■

[Input circuit]

24VDC

Logiccircuit

Internalcircuit

4.7k

+COM

Input

-COM

Type : DC input (minus common type) Photo-coupler isolation formatLoad : 24VDC ± 10%, 5.5mA OFF voltage :19.6Vmin (4.5mA) ON voltage :4.9Vmax (1.1mA)

[Output circuit]

Load

24VDC

Logiccircuit

Internalcircuit

+COM

Output

-COM

Type : PNP open collector output (Plus common type) Photo-coupler isolation formatLoad : 24VDC, 50mA per point



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CC-Link ■

• Terminal arrangement and connector specifications

No. Name

1 DA

5 4 3 2 1

2 DB

3 DG

4 NC

5 SLD

• Connection method

Controller CC-Link connector

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

Jump socket

NOTE

The CC-Link unit supports CC-Link Ver.1.10. The use of Ver.1.10 compatible CC-Link cable eliminates some restrictions which apply to items such as the cable length between nodes, etc. For details, refer to the instruction manual for the Ver.1.10 compatible master station PLC.



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DeviceNet ■

• Terminal array and connector specifications

No. Name

1 V- (Black)

1 2 3 4 5

2 CAN_L (Blue)

3 Shield

4 CAN_H (White)

5 V+ (Red)

• Connection method

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

Controller DeviceNet connector

MS

NS


2.10 Safety circuit construction example

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2.10 Safety circuit construction exampleThis section describes category-specific safety circuit configuration examples using a Handy Terminal which has an ENABLE switch.Customers should install the appropriate safety measures for their system by referring to the safety circuits shown in 2.10.2, "Circuit configuration examples", in order to use single-axis robots more safely.

2.10.1 Performance levelTo comply with the machinery directives, the "performance level (PL)" required of the safety circuit must be evaluated.Performance levels (PL) are determined by the following parameters:

l Major factors that determine performance levels

1. Category2. MTTFd (Mean Time To Dangerous Failure)3. DCavg (Average Diagnostic Coverage)4. CCF (Common Cause Failure) : Checklist score > 65 ?(Please obtain the data on each component from the component manufacturer.)

The performance level (PL) of a safety circuit is determined by the following flow.

l Flow for determining performance levels

1. Determine the "performance level (PLr) required of the safety circuit" by means of risk assessment.

2. Configure the safety circuit that satisfies the requirements of the category that meets PLr.

3. Calculate the safety circuit's "performance level (PL)" from the MTTFd, DCavg, and CCF of the devices used for the safety circuit, and then make sure that the calculated PL is equal to or higher than the "performance level (PLr) required of the safety circuit" (PLr ≤ PL).

In the customer's final system, the performance level (PLr) required of the safety circuit should be determined by means of risk assessment, and then the safety circuit with the corresponding performance level (PL) should be configured.



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2.10.2 Circuit configuration examplesThe following shows category-specific safety circuit configuration examples using a Handy Terminal which has an ENABLE switch. Customers should install the appropriate safety measures for their system by referring to these safety circuit configuration examples in order to use single-axis robots more safely.

This example uses the following input/output signals.

Input Reset switch, maintenance mode switch, door switch, external emergency stop

Output Handy Terminal emergency stop output, ENABLE output

CAUTION

•

•

Alarm (/ALM) signals (parallel I/O output signals) must be monitored at the host. Serial I/O alarm (/ALM) signals must also be monitored at the host.Depending on the customer system requirements, it may be necessary to build a host system which shuts off the main power when an alarm (/ALM) occurs.

General connection diagram (Handy Terminal with ENABLE switch) ■

ACOUT

Emergency stop ENABLE

5 6 7 81 2 3 4 14 15 7 8

7 8ES1 ES2 Controller

4 5ES1 ES2

7 8 3 6

Internal +24V

GND

E-STOP Status

24V_GND

Safety circuitConnection check

External emergency stop

Door

Maintenance

AC IN

HT1-D

OUT

Safety output

COM1SAFETY

+5VMPRDY Status

Reset

ES2ES1

MPRDY2MPRDY1

ES-ES+

N1L1

NL

N1L1

MPRDY

+24V

+24V

EXTEXT



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TIP: For Handy Terminal without an ENABLE switch (Category B)

Emergency stop

7 8

7 8 Controller

4 5ES1 ES2

7 8 3 6

GND24V_GND


AC IN

HT1

+5V

GND+24V

N1L1

NL

N1L1

Internal +24V

COM1

MPRDY Status

E-STOP Status

EXT



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Category specific safety circuit construction examples ■

The following safety circuit construction examples apply for safety categories 2 to 4. (1) Safety category specific safety circuit construction examples

For category 4

T11T12T21T22

14

13 23 T31 T32

HT1-D emergency stop

24

Output 1

Output 2Input 2

Input 133344344

HT1-D emergency stopT11T12T21T22

14

13 23 T31 T32

A B

HT1-D ENABLE

24

Output 1

Output 2Input 2

Input 133344344

HT1-D ENABLE

T11T12T21T22

14

13 23 T31 T32External emergency stop

24

Input 2

Input 1

T11T12T21T22

14

13 23 T31 T32Door switch

24

Input 2

Input 1

14

13 23 T31 T32

24

A B

A B

A B A B

T11T12T21T22

T23

T23

T23

T23

T23

11122122

14

13 23 T31 T32

24 A B

GND GND

AC IN L1N1 AC OUTL

NReset switch

ES+

ES-

2111

2212

+24V

ES2

KA2SRL2

SRL5

SRL6

SRL4

SRL3

SRL1

S3

S1

S4

33

34

33

34

KM1 KM2

KA1

MPRDY2

GND

GND

+24V

MPRDY1

ES1

SAFETY

EXT

ES2ES1

OUT

+24V

Maintenance 11Maintenance 12Maintenance 21Maintenance 22

T11T12T21T22

T23

Maintenance switch

Input 2

Input 1S2


S_ES2

S_ES2

Parts Table

Circuit No. Part Name Type ManufacturerS1 Reset switch A22 series OmronS2 Key-selector switch A22TK series OmronS3 Safety door switch D4 series OmronS4 Emergency stop switch A22E series OmronKM1, 2 * Contactor (mirror contact) LC1-D09 Schneider Electronic

KA1, 2 Safety relay G7SA-3A1B OmronSafety relay socket P7SA-10F-ND Omron

SRL1 to 4 Safety relay unit G9SA-301 OmronSRL5, 6 Safety relay unit G9SA-501 Omron

* Built-in surge killer



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For category 3

T11T12T21T22

14

13 23 T31 T32

24

33344344

T11T12T21T22

14

13 23 T31 T32

A B24

33344344

14

13 23 T31 T32

24

A B

A B

T11T12T21T22

T23

11122122

14

13 23 T31 T32

24 A B

GND GND

AC IN L1N1 AC OUTL

N

ES+

ES-

2111

2212

+24V

ES2

KA2

SRL3

SRL4

SRL2

SRL1

S3

S1

S4

33

34

33

34

KA1

MPRDY2

GND

GND

+24V

MPRDY1

ES1

SAFETY

EXT

ES2ES1

OUT

+24V

T11T12T21T22

T23

S2

T23

T23

S_ES2

S_ES2

KM1 KM2

Reset switch

Maintenance switch

Input 2

Input 1

Input 2

Input 1

Input 2

Input 1

Input 2

Input 1

Input 2

Input 1


Door switch



HT1-D ENABLE

Output 1

Output 2


Output 1

Output 2

HT1-D ENABLE


Parts Table

Circuit No. Part Name Type Manufacturer

S1 Reset switch A22 series OmronS2 Key-selector switch A22TK series OmronS3 Safety door switch D4 series OmronS4 Emergency stop switch A22E series OmronKM1, 2 * Contactor (mirror contact) LC1-D09 Schneider Electronic

KA1, 2Safety relay G7SA-3A1B OmronSafety relay socket P7SA-10F-ND Omron

SRL1, 2 Safety relay unit G9SA-301 OmronSRL3, 4 Safety relay unit G9SA-501 Omron

* Built-in surge killer



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For category 2

14

13 T31 T32

A B

T11T12T21T22

14

23T13T31

A B

GND

AC IN L1N1 AC OUTL

N

ES+

ES-

11

12

+24V

ES2

KA2

SRL2

SRL1

S3

S1

S4

23

24

23

24

KM1

KA1

MPRDY2

GND

GND

+24V

MPRDY1

ES1

SAFETY

EXT

ES2ES1

OUT

+24V

T11T12T21T22

T23

S2

S_ES2

S_ES2

1112

T23

Reset switch

Maintenance switch

Input 1 Maintenance 11Maintenance 12

Maintenance 11Maintenance 12

Door switch

Input 1


Input 1


Input 2

Input 1

Input 2

Input 1

HT1-D ENABLE

Output 1


Output 1

HT1-D ENABLE

Parts Table

Circuit No. Part Name Type Manufacturer

S1 Reset switch A22 series OmronS2 Key-selector switch A22TK series OmronS3 Safety door switch D4 series OmronS4 Emergency stop switch A22E series OmronKM1 * Contactor (mirror contact) LC1-D09 Schneider Electronic

KA1, 2Safety relay G7SA-3A1B OmronSafety relay socket P7SA-10F-ND Omron

SRL1, 2 Safety relay unit G9SA-301 Omron* Built-in surge killer



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(2) Circuit operation overview

During automatic operation

Main power (motor drive power) is supplied only when all the following conditions are satisfied.

Conditions

• The maintenance mode switch's NC contact is OFF (open).• The door switch's NC contact is ON (closed).• The external emergency stop button's NC contact is ON (closed).• The Handy Terminal emergency stop button's NC contact is ON (closed).

CAUTION

•

•

Use the safety short connector to connect during automatic operation. (short the following: 1-2, 3-4, 5-6, 7-8)Do not short the safety short connector's ES1 and ES2. Doing so will disable the Handy Terminal's "connection check" function when the dummy connector is mounted at COM1.

During maintenance

Main power (motor drive power) is supplied only when the door switch is disabled, with all the following conditions satisfied.

Conditions

• The maintenance mode switch's NC contact is ON (closed).• The external emergency stop button's NC contact is ON (closed).• The Handy Terminal emergency stop button's NC contact is ON (closed).• The Handy Terminal ENABLE switch's NO contact is ON (closed).

CAUTION

The door switch is enabled when the Handy Terminal is disconnected. (Connection confirmation occurs at the ES1 and ES2 loop.)

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Chapter 3 Data setting

Contents

3.1 Data overview 3-1

3.2 Point data 3-2

3.2.1 "Standard setting" type 3-3

3.2.2 "Custom setting" type 3-4

3.3 Point data details 3-5

3.4 Parameter data 3-9

3.4.1 Parameter list 3-9

3.4.2 Parameter details 3-12

Chapter 3 Data setting 3-1

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3.1 Data overview

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3.1 Data overviewPoint data and parameter data settings must be specified in order to operate a robot from a TS series controller.

Point data ■

The point data used in positioning operations includes items such as the "RUN type", "Position", and "Speed", etc.Up to 255 points (P1 to P255) can be registered.There are two point data setting types: "Standard setting" type that automatically defines optimal positioning simply by specifying the payload and "Custom setting" type that allows setting the speed (mm/s) and acceleration (m/s2) in SI units. Select the desired setting type according to the application.

Parameter data ■

Parameter data is divided into the following categories: "RUN parameters", "I/O parameters", "Option parameters", and "Servo parameters".

P1 to P255

RUN type

Position

Speed

Accel.

Decel.

Push

Zone (-)

Zone (+)

Near width

Jump

Flag

Timer

Data Point data

Parameter data

1

2

3

4

5

6

7

8

9

10

11

12

K1 to K20

RUN parameter

K80 to K99

Option parameter

K21 to K39

I/O parameter

K40 to K79, K100 to ...

Servo parameter

Sets the point data to be used in positioning. Select the desired setting type ("Standard setting" or "Custom setting") according to the application.

Specifies parameter settings related to positioning and return-to-origin operations.

Specifies parameter settings related to terminal assignments and I/O function selection.

Specifies parameter settings related to options such as CC-Link, etc.

Specifies parameter settings specified to the connected robot. These parameters are specified during initial processing.

(1) Standard settingOptimum positioning is provided simply by specifying the payload.

(2) Custom settingSpeed and acceleration can be set in SI units.

Data configuration

3-2 Chapter 3 Data setting

3.2 Point data

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3.2 Point dataThe point data includes items such as the "RUN type", "Position", and "Speed", etc.

Point data item list ■

P1 to P255

Item Description

1 RUN type Specifies the positioning operation pattern.

2 Position Specifies the positioning target position or movement amount.

3 Speed Specifies the positioning speed.

4 Accel. Specifies the positioning acceleration.

5 Decel. Specifies the positioning deceleration (as a percentage of the acceleration).

6 Push Specifies the electrical current limit value for "Push" operations.

7 Zone (-)Specifies the "personal zone" output range.

8 Zone (+)

9 Near width Specifies the "near width" zone (distance tolerance relative to target position).

10 JumpSpecifies the next movement destination, or the next merge operation merge destination point No. following positioning completion.

11 Flag Specifies other information related to the positioning operation.

12 Timer Specifies the waiting time (delay) after positioning completion.

"Standard setting" and "Custom setting" ■

There are 2 setting types for point data ("Standard setting" or "Custom setting"). Select the desired setting type according to the application.The maximum number of setting points for both setting types is 255 points (P1 to P255).

Setting Type Description

Standard settingOptimum positioning is provided simply by specifying the payload. This setting type is well-suited to assembly and transport applications.

Custom setting

Allows changing the speed and acceleration in SI units so the desired positioning operation can be set.This setting type is suited for machining and inspection systems.

"Standard setting" and "Custom setting" selectionSpecify the "Point Type" setting as "Standard setting" or "Custom setting" during initial processing performed by the support software (TS-Manager).

CAUTION

Changing the "Point Type" setting clears all point data which has been in use. Be sure to specify the "Point Type" setting before editing the point data.

3-2 Chapter 3 Data setting Chapter 3 Data setting 3-3

3.2 Point data

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3.2.1 "Standard setting" typeThe optimum acceleration is automatically set simply by specifying the desired payload.

The optimum acceleration percentage value (%) is specified in accordance with the movement amount and movement speed, based on the max. payload accel. which is automatically set when the payload is specified.

Speed

"Accel." = 100%

Time

"Decel. speed" = 100%

Specified as a percentage of the max. speed for each robot.

Specified as a percentage of the accel.

"Speed" = 100%

"Speed" = 50%

Speed and acceleration concept

Payload is set.

Accel. is determined and set.

Max. payload accel. is automatically set based on the payload. (See fig. at left.)

Optimum accel. is calculated in accordance with the movement amount and movement speed, based on

the Max. payload accel. at operation START.

Acceleration calculating algorithm

m/s2

kg

Max. payload accel. (max. accel.) for 0kg payload

Max. payload accel. for payload setting

Max. payload weight

Payload setting value

Max. payload accel. for max. payload

TIP

Payload settings are specified at the K76 (Payload 1) and K78 (Payload 2) servo parameters. (See section 3.4.2 "Parameter details" of this manual for details.)If 2 payloads have been set, either setting can be selected for each point data. (See the "Flag" item in section 3.3 "Point data details" of this manual for details.)

Point data setting range and default settings ■

Data Item Setting Range Units Default

1 RUN type 1 to 8 (8 types) - 1

2 Position -9999.999 to 9999.999 mm 0.00

3 Speed 1 to 100 % 1004 Accel. 1 to 100 % 1005 Decel. 1 to 100 % 1006 Push 1 to 100 % 1007 Zone (-)

-9999.999 to 9999.999 mm 0.008 Zone (+)9 Near width 0.000 to 9999.999 mm 1.00

10 Jump 0 to 255 - 011 Flag 0 to 1 - 012 Timer 0 to 30000 ms 0.00


3.2 Point data

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3.2.2 "Custom setting" typeThis setting type allows a more detailed positioning operation.

The acceleration is set in m/s2 units. The max. permissible setting value is the max. accel. for each robot type.

Speed

"Speed" = 600.00 (mm/s)

"Accel." = 4.00 (m/s2)

Time

"Decel. speed" = 100%

The speed is specified in "mm/s" units. The max. permissible setting value is the max. accel. for each robot type.

Specified as a percent-age of the accel. speed.

Speed and acceleration concept

TIP

The payload setting is specified by servo parameter K76 (Payload 1). (See section 3.4.2 "Parameter details" of this manual for details.)

Point data setting range and default settings ■

Data Item Setting Range Units Default

1 RUN type 1 to 8 (8 types) - 1

2 Position -9999.999 to 9999.999 mm 0.00

3 Speed 0.01 to upper limit (depends on robot type) Depends on robot type mm/s Depends on

robot type

4 Accel. 0.01 to upper limit (depends on robot type) Depends on robot type m/s2 Depends on

robot type5 Decel. 1 to 100 % 1006 Push 1 to 100 % 1007 Zone (-)

-9999.999 to 9999.999 mm 0.008 Zone (+)9 Near width 0.000 to 9999.999 mm 1.00

10 Jump 0 to 255 - 011 Flag 0 to 1 - -12 Timer 0 to 30000 ms 0.00

TIP

"Depends on robot type" indicates that the default setting varies according to the robot type being used.

CAUTION

·

·

The "Point Type" （"Standard setting" or "Custom setting") can be selected only when creating new robot data with the support software (TS-Manager).When the "Custom setting" type is selected, the max. permissible accel. setting value is the max. accel. for each robot type. However, if a payload is registered, operation will not occur at an acceleration which exceeds the max. accel. (max. payload accel.) which has been determined based on the payload.


3.3 Point data details

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3.3 Point data detailsThis section explains the details of each point data item.

1: RUN typeSpecifies the positioning operation pattern.

TIPFor positioning operation details, see section 5.3 "Positioning operation".

1. ABS 2. INC

Positioning movement to an origin-point keyed target position occurs.

Speed

PPosition

Positioning movement occurs to a specified distance from the current position.

Speed

Current positionPosition

P

3. ABS Merge 4. INC Merge

Continuous positioning to multiple points occurs with speed changes, but without deceleration stops.Speed

P2P1Position

Continuous positioning to multiple points occurs with speed changes, but without deceleration stops.Speed

P2P1

Position

5. ABS Push 6. INC Push

Push operation occurs at the specified push force.

Speed

P

PushPosition

Push operation occurs at the specified push force.

Speed

Push

P

Position

7. ABS Push 8. INC Push

Push operation occurs after deceleration completion at the "near width" distance N from the target position.Speed

Position

N

P

Push

Push operation occurs after deceleration completion at the "near width" distance N.Speed

N

PositionPush

P



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2: PositionSpecifies the positioning target position or movement amount.· When the "RUN type" is specified as "ABS (absolute position) .................................. Target position.

· When the "RUN type" is specified as "INC (relative position) .................................. Movement amount from current position.

The illustration below shows a positioning example when a "Position = 100.000 (mm)" point data setting has been specified.

100 150 200

ABS setting

INC setting (movement amount = 100.000)

Origin point(0.000)

Current position(50.000)

Position

ABS and INC settings

3: SpeedSpecifies the positioning speed.· Standard setting...The speed is specified as a percentage (%) of each robot's max. speed.· Custom setting...The speed is specified in mm/s units.

CAUTION

In the case of push operation, make this setting so that the movement speed does not exceed 20.00 [mm/s].

4: Accel.Specifies the positioning acceleration.· Standard setting...The acceleration is specified as a percentage (%) of each

operation's optimum acceleration.· Custom setting...The acceleration is specified in m/s2 units.

WARNING

Payload, acceleration, and deceleration settings which differ greatly from the actual values will result in operation time loss, shorten the robot life, and cause vibration. Be sure to set them to appropriate values.

5: Decel.Specifies the positioning deceleration setting as a percentage (%) of the accel. setting value.<Setting examples>

· For "Standard setting" with an "Accel." setting of 80% and a "Decel." setting of 70%: 80% × 70% = 56% (56% of the optimum accel.).· For "Custom setting" with an "Accel." setting of 4.00 (m/s2) and a "Decel." setting of 70%: 4.00 (m/s2) × 70% = 2.80 (m/s2).



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6: PushSpecifies the electrical current limit value during a push operation. The push force is specified as a percentage (%) of each robot's rated current.

CAUTION

A 100% "push force" is equal to the rated current, and the thrust generated by the rated current is called the "rated thrust". The rated thrust indicated by each robot's specifications is the theoretical (guideline) thrust when the motor is running at its rated current. The actual thrust varies according to friction conditions, etc..

7: Zone (-) 8: Zone (+)

"Zone (-)" specifies the personal zone output (PZONE) range's lower limit (minus-direction limit)."Zone (+)" specifies the personal zone output (PZONE) range's upper limit (plus-direction limit).The personal zone output can be specified for each point data, and it switches ON when the robot's current position enters the personal zone.

The following example shows a personal zone set as the absolute position range of 100.000 to 150.000mm, as measured from the origin point.

Zone (-)(100.000)

Zone (+)(150.000)

Personal zone

Origin point(0.000)

Position

Personal zone setting example (absolute position)

9: Near widthSpecifies the near width zone (distance tolerance relative to target position) for the "near width output". The "near width output" switches ON while the robot is passing through the near width zone.When the RUN type is "Decel Push", this range represents the position (distance from target position) where deceleration ends and the push status begins.

P−5.000 P+5.000

Near width Near width

Position

Target position P

Example for a setting of "Near width = 5.000mm"



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10: JumpSpecifies the next point No. when movement to a next operation is to occur after a positioning completion. If this setting is specified as "0", there is no movement to a next point (operation ends).In merge operations, this setting specifies the merge destination point No.

Speed Speed

P1 operation P2 operation

Time

After positioning to P1 is completed, positioning to P2 occurs.

P1 operation

Merge operation

P2 operation

Time

After positioning to P1 is completed, positioning to P2 occurs without a deceleration stop.

Setting example of "Jump = 2"

11: FlagSpecifies the following setting items with regard to the positioning operation.

Bit Setting Setting Item Setting Value / Setting Range

bit0 Payload select

Standard setting: Selects the payload setting for positioning operations.Custom setting: Limits the max. payload accel. which is determined according to the payload. 0: Payload 1 (K76) 1: Payload 2 (K78)

TIPFor details regarding the payload selection, see section 5.7.4 "Changing the payload".

12: TimerSpecifies the waiting time (delay) before proceeding to the next specified (by Jump setting) operation following the completion of a positioning operation. This setting is disabled in merge operations.

P2 operationP1 operation

Speed

Time

Timer = 500ms

After completion of the P1 operation, there is a 500ms delay (wait) before the P2 operation begins.

Setting example of "Timer = 500ms"


3.4 Parameter data

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3.4 Parameter dataThe 4 types of parameter data are shown below.

Type Description

RUN parameter These parameters are required for robot operation, and they include "soft limit" and "zone" settings.

I/O parameter These parameters are for terminal assignment and I/O functions.

Option parameter These parameters are for optional settings (CC-Link and DeviceNet, etc.), and include the "node No." and "baud rate" settings.

Servo parameter These parameters are robot-specific parameters, and they include "encoder pulse count", "gain", "rating", and "max. current" settings.

3.4.1 Parameter listAt the initializing routine, all parameters are set to their default values in accordance with the specifications of the selected robot and the payload. The following list shows the parameter setting ranges and default settings.

NOTEFor details regarding parameters see section 3.4.2 "Parameter details".

■ RUN parameters

• Positioning

No. Name Setting / Setting Range Units Default Restart

1 (-) soft limit -9999.999 to 9999.999 mm 0.000 -

2 (+) soft limit -9999.999 to 9999.999 mm Depends on robot type -

3 In-position 0.001 to 1.000 mm 0.010 -

4 Push mode

0: Continue push after judgment, no push failure judgment

1: Positioning after judgment, no push failure judgment

2: Continue push after judgment, with push failure judgment

3: Positioning after judgment, with push failure judgment

- 0 -

5 Push judge time 1 to 60000 ms 10 -

6 Push speed 0.01 to 20.00 mm/s Depends on robot type -

7 Zone (-) -9999.999 to 9999.999 mm 0.000 -8 Zone (+) -9999.999 to 9999.999 mm 0.000 -9 Speed override 1 to 100 % 100 -

10 JOG speed 1 to 100 % 100 -11 Inching width 0.001 to 1.000 mm 1.000 -

12 MOVE output level 0.01 to 100.00 mm/s 0.01 -


3.4 Parameter data

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• Return-to-origin


13 Origin speed 0.01 to 100.00 mm/s Depends on robot type -

14 Origin dir. 0: CCW direction; 1: CW direction - Depends on robot type -

15 Origin coordi. 0: Standard; 1: Reversed - 0 -16 Origin shift -9999.999 to 9999.999 mm 0.000 -

• Speed switch


17 Speed switch function 0: Disable 1: Enable - 0 -

18 Switched speed 1 to 100 ％ 10 -

■ I/O parameters• Terminal assignment


21 OUT0 select 0: No output1: PZONE2: NEAR3: TLM-S4: ORG-S

5: ZONE6. MOVE7: /WARN8: MANU-S

- 1 Required

22 OUT1 select - 2 Required

23 OUT2 select - 3 Required24 OUT3 select - 4 Required

25 POUT select0: None1: At positioning completion (AFTER)2: At positioning start (WITH)

- 1 Required

• Function selection


30 Alarm No. output function 0: Disable 1: Enable - 0 -

31 SERVO sequence 0: Edge 1: Level - 0 -

32 JOG response time

0: JOG movement only1 to 1000: Inching at leading edge, with JOG movement after specified time elapses.

ms 0 -

33 Input filter 1 to 10 ms 2 -

• Communication


38 Node (slave address) 1 to 16 - 1 -

■ Option parameters• I/O function


80 Option enable 0: Disable 1: Enable - 1 -


3.4 Parameter data

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• CC-Link


81 Node 1 to 64 - 1 Required

82 Transmission rate

0: 156Kbps1: 625Kbps2: 2.5Mbps3: 5Mbps4: 10Mbps

- 4 Required

• DeviceNet


81 Node 0 to 63 - 0 Required

82 Transmission rate

0: 125Kbps1: 250Kbps2: 500Kbps

- 2 Required

■ Servo parameters• Adjustment (for user adjustments)


76 Payload 1 (for registration) 0 to max. payload (K47) kg Depends on

robot type -

77Max. payload accel.1 *1 0.01 to max. accel. (K48) m/s2 Depends on

robot type -

78 Payload 2 (for registration) 0 to max. payload (K47) kg Depends on

robot type -

79Max. payload accel.2 *2 0.01 to max. accel. (K48) m/s2 Depends on

robot type -

*1. When "payload 1" (K76) is registered, this setting is converted to a value calculated by the prescribed formula.

*2. When "payload 2" (K78) is registered, this setting is converted to a value calculated by the prescribed formula.


3.4 Parameter data

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3.4.2 Parameter detailsThe parameters described below can be adjusted to conform to the actual application and usage conditions.

RUN parameters ■

• Positioning related parameters

K1K2

Soft limit (-)Soft limit (+)

Setting Range Default Units Restar

-9999.999 to 9999.999 Depends on robot type mm -

Function

Specifies the robot movement range. K1 specifies the minus-side limit, and K2 specifies the plus-side limit. Although the robot's effective stroke is factory-set as the soft limit when shipped, it should be changed if necessary to avoid collisions with obstacles, etc.

TIP

The plus and minus directions differ according to the "origin coordi." (K15) setting. For soft limit details, see section 5.7.1 "Soft limit function".

K3 In-positionSetting Range Default Units Restart

0.001 to 1.000 0.010 mm -

Function

Specifies the range in which end-of-positioning is recognized.

K4 Push modeSetting Range Default Units Restart

0 to 3 0 - -

Function

Specifies the push operation following a push judgment, and specifies the push failure judgment ("nothing was pushed" judgment).Settings

Setting Value Description

0 Push continuation after completion, with no failure judgment.

1 Positioning after completion, with no failure judgment.

2 Push continuation after completion, with failure judgment.3 Positioning after completion, with failure judgment.

K5 Push judgment timeSetting Range Default Units Restart

1 to 60000 10 ms -

Function

Specifies the time from "push start" to "push end" at push operations.

K6 Push speedSetting Range Default Units Restart

0.01 to 20.00 Depends on robot type mm/s -

Function

Specifies the push speed after deceleration at "Decel. push" operations.


3.4 Parameter data

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K7K8

Zone (-)Zone (+)

Setting Range Default Units Restart

-9999.999 to 9999.999 0.000 mm -

Function

Specifies the zone output (ZONE) range's upper and lower limits.

TIPFor zone output details, see section 5.7.2 "Zone output function".

K9 Speed overrideSetting Range Default Units Restart

1 to 100 100 ％ -

Function

Performs an override (uniform adjustment) of the speed specified for the positioning operation. This parameter is used to prevent hazardous conditions during trial operations, etc.

K10 JOG speedSetting Range Default Units Restart

1 to 100 100 ％ -

Function

Specifies the JOG movement speed. A setting of 100% is 100mm/s.

K11 Inching widthSetting Range Default Units Restart

0.001 to1.000 1.000 mm -

Function

Specifies the inching width (amount) for JOG movement.

K12 MOVE output levelSetting Range Default Units Restart

0.01 to100.00 0.01 mm/s -

Function

Specifies the minimum movement speed which is output by the MOVE (movement-in-progress) output.

• Return-to-origin related parameters

K13 Return-to-origin speedSetting Range Default Units Restart

0.01 to 100.00 Depends on robot type mm/s -

Function

Specifies the return-to-origin movement speed.

K14 Return-to-origin direction


0 to 1 Depends on robot type - -

Function

Specifies the return-to-origin direction.Settings


0 CCW

1 CW


3.4 Parameter data

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K15 Origin Coordi. Setting Range Default Units Restart

0 to 1 0 - -

Function

Specifies the coordinate system polarity.Settings


0 Standard (Plus-polarity is opposite direction from return-to-origin direction.)

1 Reverse (Plus-polarity is same direction as return-to-origin direction)

K16 Origin shiftSetting Range Default Units Restart

-9999.999 to 9999.999 0.000 mm -

Function

Specifies the coordinates of the return-to-origin end position.

• Speed switch

K17 Speed switch functionSetting Range Default Units Restart

0 to 1 0 - -

Function

Enables/disables the speed switch function.Settings

Settings Description

0 Disable

1 Enable

CAUTION

This function is available from controller's software version 1.06.111 onwards. This parameter can be changed from the HT1 with software version 1.09 onwards and the TS-Manager with software version 1.2.1 onwards.

NOTERefer to "5.3.8 Speed switch function" in Chapter 5 for more details.

K18 Switched speedSetting Range Default Units Restart

1 to 100 10 ％ -

Function

Specifies the speed to be used after "Speed switch" has been performed. The maximum speed to be used by the speed switch function will be calculated by multiplying the current maximum speed by the value set in this parameter.

CAUTION

This function is available from controller's software version 1.06.111 onwards. The parameter can be changed by the HT1 with the software version 1.09 onwards and by the TS-Manager with the software version 1.2.1 onwards.



3.4 Parameter data

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I/O parameters ■

• Terminal assignment related parameters

No. Name Setting / Setting Range Default Units Restart

K21 OUT0 select 0 to 8 1 - Required




Function

Specifies the functional signals (shown below) for the control outputs (OUT0 to OUT3).Settings

Setting Value Signal Type Description

0 - No output

1 PZONE Personal zone output

2 NEAR NEAR output3 TLM-S Push status4 ORG-S Return-to-origin end status5 ZONE Zone output6 MOVE Movement-in-progress7 /WARN Warning output8 MANU-S MANUAL mode status

K25 POUT selectSetting Range Default Units Restart

0 to 2 1 - Required

Function

Specifies the output timing for the POUT0 to POUT7 point No. outputs.Settings


0 No output

1 Output at positioning end (AFTER)

2 Output at movement start (WITH)

• Function selection related parameters

K30 Alarm No. output function


0 to 1 0 - -

Function

Enables/disables the alarm No. output function.Settings


0 Disable

1 Enable

TIPFor details regarding alarm No. outputs, see section 5.7.3 "Alarm No. output function".


3.4 Parameter data

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K31 SERVO sequenceSetting Range Default Units Restart

0 to 1 0 - -

Function

Specifies the SERVO input's servo ON/OFF conditions.Settings


0 Edge (servo ON at leading edge, servo OFF at trailing edge)

1 Level (ON: servo on; OFF: servo off)

K32 JOG response timeSetting Range Default Units Restart

0 to 1000 0 ms -

Function

Specifies the JOG movement sequence at JOG+/JOG- inputs.Settings


0 JOG operation only

1 to 1000 Inching operation + JOG operation after specified time elapses

K33 Input filterSetting Range Default Units Restart

1 to 10 2 ms -

Function

Specifies the filter processing time for inputs from the host unit. The larger the setting value, the longer the filtering time, and the slower the response to the input.

K38 NodeSetting Range Default Units Restart

1 to 16 1 - -

Function

Specifies the node number for a daisy-chained controller.

Servo parameters ■

K76 Payload 1Setting Range Default Units Restart

0 to … (depends on robot type) Depends on robot type kg -

Function

Specifies the maximum weight of objects (tools, workpieces, etc.) which can be mounted on the robot. Based on this setting, the maximum acceleration (max. payload accel. 1 (K77)) for each robot type is automatically calculated and set.

WARNING


TIPFor payload details, see section 5.7.4 "Changing the payload".


3.4 Parameter data

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K77 Max. payload accel. 1Setting Range Default Units Restart

- 2 m/s2 -

Function

Specifies the maximum payload acceleration defined by the "Payload 1" (K76) parameter. This is a "read only" parameter.

K78 Payload 2Setting Range Default Units Restart

0 to … (depends on robot type) Depends on robot type kg -

Function

Specifies the maximum weight of objects (tools, workpieces, etc.) which can be mounted on the robot. The maximum acceleration (max. payload accel. 2 (K79)) for each robot type is automatically calculated and set based on this setting.

WARNING


TIPFor payload details, see section 5.7.4 "Changing the payload".

K79 Max. payload accel. 2Setting Range Default Units Restart

- 2 m/s2 -

Function

Specifies the maximum payload acceleration defined by the "Payload 2" (K78) parameter. This is a "read only" parameter.

Option parameters ■

K80 Option enableSetting Range Default Units Restart

0 to 1 1 - -

Function

Specifies the I/O enable/disable setting.Settings


0 Disable

1 Enable


3.4 Parameter data

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CC-Link ■

K81 CC-Link nodeSetting Range Default Units Restart

1 to 64 1 - Required

Function

Specifies the CC-Link communication node.

K82 CC-Link speedSetting Range Default Units Restart

0 to 4 4 - Required

Function

Specifies the CC-Link baud rate.Settings


0 156Kbps

1 625Kbps

2 2.5Mbps3 5Mbps4 10Mbps

CAUTION

The baud rate setting specified here must be the same as the baud rate specified at the master station. A normal data link cannot be established if the settings are not the same.

DeviceNet ■

K81 DeviceNet nodeSetting Range Default Units Restart

0 to 63 0 - Required

Function

Specifies the DeviceNet communication node.

K82 DeviceNet speedSetting Range Default Units Restart

0 to 2 2 - Required

Function

Specifies the DeviceNet baud rate.Settings


0 125Kbps

1 250Kbps

2 500Kbps

CAUTION

The baud rate setting specified here must be the same as the baud rate specified at the master station. A normal data link cannot be established if the settings are not the same.

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Chapter 4 I/O signal functions

Contents

4.1 I/O specifications 4-1

4.1.1 I/O specifications 1 (NPN and PNP type) 4-1

4.1.2 I/O specifications 2 (CC-Link type) 4-2

4.1.3 I/O specifications 3 (DeviceNet type) 4-4

4.2 I/O signal list 4-6

4.3 I/O signal details 4-7

4.3.1 Input signal details 4-7

4.3.2 Output signal details 4-9

Chapter 4 I/O signal functions 4-1

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4.1 I/O specifications

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4.1 I/O specificationsThe TS series allows positioning and push operations to be controlled from a host unit such as a PLC, etc., by way of an I/O interface. The I/O specifications for the I/O interface are shown below. (Selected at the time of purchase.)

I/O Specification Explanation

Parallel I/ONPN 16 input points, 24VDC ± 10%, 5.1mA/point, plus common

16 output points, 24VDC ± 10%, 50mA/point, sync type

PNP 16 input points, 24VDC ± 10%, 5.5mA/point, minus common16 output points, 24VDC ± 10%, 50mA/point, source type

Serial I/OCC-Link CC-Link Ver.1.10 compatible, remote device station (1 station)

DeviceNet Number of channels occupied by DeviceNet slaves: Inputs: 6CH; Outputs: 6CH.

4.1.1 I/O specifications 1 (NPN and PNP type)Both the NPN and PNP types have 16 input points and 16 output points.

I/O signal table ■

No. Signal Name Description No. Signal Name Description

1+COM Input power +

common21 POUT0

Out

put

sPoint No. outputs

2 22 POUT1

3 NCUse prohibited

23 POUT24 NC 24 POUT35 PIN0

Inp

uts

Point No. select

25 POUT46 PIN1 26 POUT57 PIN2 27 POUT68 PIN3 28 POUT79 PIN4 29 OUT0

Control outputs10 PIN5 30 OUT111 PIN6 31 OUT212 PIN7 32 OUT3

13 JOG+ JOG movement (+ direction) 33 BUSY Operation-in-

progress

14 JOG- JOG movement (- direction) 34 END Operation-end

15 MANUAL MANUAL mode 35 /ALM Alarm16 ORG Return-to-origin 36 SRV-S Servo status17 /LOCK Interlock 37 NC

Use prohibited18 START Start 38 NC19 RESET Reset 39

-COM Input power - common20 SERVO Servo ON 40

4-2 Chapter 4 I/O signal functions


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4.1.2 I/O specifications 2 (CC-Link type)Operation occurs as a CC-Link remote device station, on a one-unit to one-station basis.

NOTE

"Station No." and "baud rate" settings must be specified in order for the TS series to be recognized as remote station in the CC-Link system. These settings can be specified in the support software (TS-Manager), or from the HT1. (For the setting procedure, see section 5.3 "Setting Option parameters".

Remote I/O (bit I/O) ■

Input (Master Remote) Output (Remote Master)

No. Signal Name Description No. Signal Name Description

RYn0 PIN0

Point No. select

RXn0 POUT0

Point No. output

RYn1 PIN1 RXn1 POUT1RYn2 PIN2 RXn2 POUT2RYn3 PIN3 RXn3 POUT3RYn4 PIN4 RXn4 POUT4RYn5 PIN5 RXn5 POUT5RYn6 PIN6 RXn6 POUT6RYn7 PIN7 RXn7 POUT7

RYn8 JOG+ JOG movement (+ direction) RXn8 OUT0

Control outputRYn9 JOG- JOG movement (- direction) RXn9 OUT1

RYnA MANUAL MANUAL mode RXnA OUT2RYnB ORG Return-to-origin RXnB OUT3

RYnC /LOCK Interlock RXnC BUSY Operation-in-progress

RYnD START Start RXnD END Operation-endRYnE RESET Reset RXnE /ALM AlarmRYnF SERVO Servo ON RXnF SRV-S Servo status

RY(n+1)0 - - RX(n+1)0 - -RY(n+1)1 - - RX(n+1)1 - -RY(n+1)2 - - RX(n+1)2 - -RY(n+1)3 - - RX(n+1)3 - -RY(n+1)4 - - RX(n+1)4 - -RY(n+1)5 - - RX(n+1)5 - -RY(n+1)6 - - RX(n+1)6 - -RY(n+1)7 - - RX(n+1)7 - -RY(n+1)8 - - RX(n+1)8 - -RY(n+1)9 - - RX(n+1)9 - -RY(n+1)A - - RX(n+1)A - -RY(n+1)B - - RX(n+1)B R-RDY Remote READYRY(n+1)C - - RX(n+1)C - -RY(n+1)D - - RX(n+1)D - -RY(n+1)E - - RX(n+1)E - -RY(n+1)F - - RX(n+1)F - -

n: These values are determined in accordance with the node No. setting.

4-2 Chapter 4 I/O signal functions Chapter 4 I/O signal functions 4-3


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Remote registers (word I/O) ■

Remote commands can be executed by using the 4-word input and 4-word output remote registers.

Inputs (Master Remote) Output (Remote Master)

Address Signal Name Description Address Signal Name Description

RWwn WIN0 Execution command RWrn WOUT0 Status

RWwn+1 WIN1Command option

RWrn+1 WOUT1Command responseRWwn+2 WIN2 RWrn+2 WOUT2

RWwn+3 WIN3 RWrn+3 WOUT3




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4.1.3 I/O specifications 3 (DeviceNet type)Operate as slave stations, with each unit occupying 6 input and 6 output channels.

NOTE

MAC ID and baud rate settings are required in order for TS series to be properly recognized as a slave station in the DeviceNet system. These settings can be specified from the support software (TS-Manager), or from the HT1. (For the setting procedure, see section 5.3 "Setting Option parameters".)

Remote I/O (bit I/O) ■


Channel No. Signal Name Description Channel No. Signal Name Description

m

bit0 PIN0

Point No. selection

n

bit0 POUT0

Point No. output

bit1 PIN1 bit1 POUT1bit2 PIN2 bit2 POUT2bit3 PIN3 bit3 POUT3bit4 PIN4 bit4 POUT4bit5 PIN5 bit5 POUT5bit6 PIN6 bit6 POUT6bit7 PIN7 bit7 POUT7

bit8 JOG+ Jog movement (+direction) bit8 OUT0

Control outputbit9 JOG- Jog movement (-direction) bit9 OUT1

bit10 MANUAL Manual mode bit10 OUT2bit11 ORG Return-to-origin bit11 OUT3bit12 /LOCK Interlock bit12 BUSY Operation-in-progressbit13 START Start bit13 END Operation-endbit14 RESET Reset bit14 /ALM Alarmbit15 SERVO Servo ON bit15 SRV-S Servo status

m+1

bit0 - -

n+1

bit0 - -bit1 - - bit1 - -bit2 - - bit2 - -bit3 - - bit3 - -bit4 - - bit4 - -bit5 - - bit5 - -bit6 - - bit6 - -bit7 - - bit7 - -bit8 - - bit8 - -bit9 - - bit9 - -

bit10 - - bit10 - -bit11 - - bit11 - -bit12 - - bit12 - -bit13 - - bit13 - -bit14 - - bit14 - -bit15 - - bit15 - -

"m", "n": These values are determined in accordance with the channel setting.



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Remote registers (word I/O) ■

Remote commands can be executed by using the 4-word input and 4-word output areas.



m+2 WIN0 Execution command n+2 WOUT0 Status

m+3 WIN1Command option

n+3 WOUT1Command responsem+4 WIN2 n+4 WOUT2

m+5 WIN3 n+5 WOUT3



4.2 I/O signal list

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4.2 I/O signal listA list of the I/O signals is given below. For details regarding each signal, refer to section 4.3 "I/O signal details".

Type Signal Name Meaning Description

Inp

uts

PIN0 to PIN7

Point No. select 0 to 7

· Specifies the point No. for the positioning operation.· Specifies the point No. for current position teaching

(MANUAL mode).

JOG+ JOG movement (+ direction)

Plus-direction movement occurs while ON (MANUAL mode)

JOG- JOG movement (- direction)

Minus-direction movement occurs while ON (MANUAL mode)

SPD *1 Speed switch Performs the positioning operation at the speed set in "Switched speed".

MANUAL MANUAL mode ON: MANUAL modeORG Return-to-origin Begins a return-to-origin.

/LOCK Interlock ON: movement enabled; OFF: movement disabled; If switched OFF during movement, a deceleration stop occurs.

START Start Begins positioning to the specified point.

TEACH *2 Current position teach

Sets (teaches) the current position at the specified point No.

RESET Reset

· Alarm reset· Point No. output reset· Relative positioning "remaining movement amount"

clearSERVO Servo ON ON: servo on; OFF: servo off.

Ou

tpu

ts

POUT0 to POUT7

Point No. output0 to 7

· Outputs the point No. of the positioning operation.· Outputs the alarm No. of the alarm which occurred.

OUT0 Control output 0 Assigns the following outputs by I/O parameter setting:Zone output Personal zone outputMANUAL mode status Return-to-origin end statusPush status Warning outputNEAR output Movement-in-progress output

OUT1 Control output 1



ZONE *3 Zone output ON when robot enters the parameter-specified zone.

PZONE *3 Personal zone output ON when specified zone for each point is entered.

MANU-S *3 MANUAL mode status ON when in the MANUAL mode.

ORG-S *3 Return-to-origin end status ON at return-to-origin end.

TLM-S *3 Push status ON during push operation./WARN *3 Warning output OFF when a warning alarm occurs.NEAR *3 NEAR output ON near the end of positioning.

MOVE *3 Movement-in-progress ON while movement is in progress.

BUSY Operation-in-progress ON while operation is in progress.

END Operation end Operation result output; ON at normal end./ALM Alarm ON when normal. OFF when alarm occurs.SRV-S Servo status ON when servo is on.

*1. Enabled when assigned to the JOG+ signal, with Speed switch function set to "Enable" and MANUAL set to "OFF".

*2. Enabled when assigned to the START signal, with /LOCK set to OFF in the MANUAL mode.*3. Used for OUT0 to OUT3 signal assignment by parameter selection. The factory settings when

shipped are as follows: OUT0 = PZONE, OUT1 = NEAR, OUT2 = TLM-S, OUT3 = ORG-S.


4.3 I/O signal details

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4.3 I/O signal detailsThis section explains the I/O signals in detail.

4.3.1 Input signal details

PIN0 to PIN7 (Point No. Select)） ■

These inputs are read as 8-bit binary code Point Nos. when the START and TEACH commands are executed.

• Input example

PIN7 PIN0

0 0 1 0 1 0 0 1

Sum at ON Example

20 1

Total = 41 (Point No.41)

21 0

22 0

23 8

24 0

25 32

26 0

27 0

JOG+ / JOG- ■

While this input is ON in the MANUAL mode, JOG movement to the specified direction's (+/-) soft limit occurs. When this input switches OFF, a deceleration stop occurs. (See section 5.4.2 "JOG movement".)

SPD ■

Switches the overall positioning operation speed between two levels.* Assigned to JOG+ terminal when "Speed switch function" (K17) is set to "Enable".

CAUTIONThis function is available from controller's software version 1.06.111 onwards.


MANUAL ■

The MANUAL mode is established when this input switches ON. The MANUAL mode status is output to MANU-S.

ORG ■

This input executes a return-to-origin operation, thereby setting the robot's coordinates and enabling positioning operations. The return-to-origin method varies according to the robot type and configuration. (See section 5.2 "Origin search (return-to-origin)".)

/LOCK (interlock) ■

A deceleration stop occurs if this input switches OFF during operation. This input must be ON in order to operate the robot.



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START ■

This input begins positioning to the point data specified by the PIN0 to PIN7 point No. select input.

NOTEThis input is enabled only when the MANUAL mode is OFF.

TEACH ■

This input sets (teaches) the current position at the point data position specified by PIN0 to PIN7 (point No. select).

NOTE

The TEACH input is only enabled when in the MANUAL mode (MANUAL = ON), with the /LOCK (interlock) input OFF.

RESET ■

The following operations occur at the leading edge of the RESET signal ON.(1) Alarm reset

After an alarm has occurred and its cause has been eliminated, the alarm status is cleared when this signal is switched ON. After the alarm status clears, the /ALM signal switches ON.Some alarm statuses cannot be cleared by the RESET signal. (See Chapter 6 "Troubleshooting".)

(2) Point No. output clear

The POUT0 to POUT7 outputs are reset (all points OFF).(3) Relative positioning's "remaining movement amount" clear

When restarted after a relative positioning stop, the "remaining movement amount" for the previous relative positioning operation is cleared.

SERVO ■

A servo ON status is established while this signal is ON. The servo ON status is output to SRV-S.A servo ON is not possible while an alarm is active.

CAUTION

A "servo OFF" should be performed only when operation is stopped. Do not use "servo OFF" to perform emergency stops.



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4.3.2 Output signal details

POUT0 to POUT7 (point No. output) ■

Outputs the current positioning operation's point No. as a binary output. When an alarm occurs, these signals output the alarm No. as a binary output.

• Output example

POUT7 POUT0

0 0 1 0 1 0 0 1

Sum at ON Example

20 1

Total = 41 (Point No.41)

21 0

22 0

23 8

24 0

25 32

26 0

27 0

OUT0 to OUT3 (control outputs) ■

Performs the following outputs which have been assigned by the OUT0 Select (K21) to OUT3 Select (K24) I/O parameters.

No. Signal Type Description Default

0 - No output -

1 PZONE Personal zone output OUT0

2 NEAR NEAR output OUT13 TLM-S Push status OUT24 ORG-S Return-to-origin end status OUT35 ZONE Zone output -6 MOVE Movement-in-progress -

7 /WARN Warning output -

8 MANU-S MANUAL mode status -

BUSY ■

This signal is ON while operation is in progress.

TIP

•

•

The "BUSY" ON conditions are "operation in progress" OR "RUN command input in progress". This signal also switches ON during magnetic pole detection at first "servo ON".

END ■

Outputs the operation's execution result. This signal switches OFF during operation, and switches ON if operation ends normally. If the operation ends in error, this signal remains OFF.

TIP

The END signal will not switch ON after a normal operation stop if the RUN command input

is ON. The END signal switches ON only after the RUN command input switches OFF.



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/ALM ■

This signal is ON during a normal status, and switches OFF when an alarm occurs.

SRV-S ■

This signal is ON while a "servo ON" status exists, and switches OFF when a "servo OFF" status occurs.

PZONE ■

This signal switches ON during a positioning operation when the current position enters the point data's "Zone+" and "Zone-". After positioning ends, this signal remains enabled until the next positioning operation is executed.This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.

NEAR ■

This signal switches ON during a positioning operation when the current position enters tolerance distance range versus the target position (the tolerance distance is specified by the point data's "Near Width" setting). After positioning ends, this signal remains enabled until the next positioning operation is executed.This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.

TLM-S ■

This signal output is ON during a push operation.This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.

ORG-S ■

This signal output is ON when return-to-origin is complete, and is OFF when incomplete.This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.

ZONE ■

This signal switches ON only while the current position is within the zone specified by the "Zone (-)" and "Zone (+)" parameters, and it can be used to verify the robot position at the host unit, or to identify zones where movement is permitted or prohibited, etc.This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs. It is disabled until a return-to-origin is completed.

MOVE ■

This signal switches ON while movement is in progress (while the actual speed exceeds the "movement-in-progress" output level (K12)). This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.

/WARN ■

This signal remains OFF while a warning alarm is active, and is enabled only when assigned to one of the OUT0 to OUT3 control outputs.

MANU-S ■

This signal switches ON when the MANUAL mode input switches ON, and switches OFF when the MANUAL mode inputs switches OFF.This signal is enabled only when assigned to one of the OUT0 to OUT3 control outputs.

READY (R-RDY) ■

This signal outputs the CC-Link communication status. This signal is ON when the communication status is normal. (This signal is enabled only when using the CC-Link option.)

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Chapter 5 Operation

Contents

5.1 Operation procedure 5-1

5.1.1 Overall operation timing chart 5-1

5.1.2 Alarm occurrence and clearing 5-3

5.2 Origin search (return-to-origin) 5-4

5.2.1 Origin point detection method 5-4

5.2.2 Origin point and coordinates relationship 5-7

5.2.3 Return-to-origin timing chart 5-8

5.3 Positioning operation 5-9

5.3.1 Basic operation 5-9

5.3.2 Positioning timing chart 5-13

5.3.3 Positioning merge operation 5-15

5.3.4 Push operation 5-17

5.3.5 Deceleration push operation 5-19

5.3.6 Continuous operation 5-20

5.3.7 Output function 5-21

5.3.8 Speed switch function 5-22

5.3.9 Operation examples 5-23

5.4 MANUAL mode 5-26

5.4.1 MANUAL mode timing chart 5-26

5.4.2 JOG movement 5-27

5.4.3 TEACH (Teaching) 5-28

5.5 Remote commands 5-29

5.5.1 Overview 5-29

5.5.2 Remote command list 5-29

5.5.3 Timing chart 5-32

5.5.4 Query 5-33

5.5.5 Point data writing 5-34

5.5.6 Point data reading 5-35

5.5.7 Parameter data writing 5-36

5.5.8 Parameter data reading 5-37

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Chapter 5 Operation 5-1

5.6 Operation modes 5-38

5.7 Other functions 5-39

5.7.1 Soft limit function 5-39

5.7.2 Zone output function 5-39

5.7.3 Alarm No. output function 5-40

5.7.4 Changing the payload 5-40

5.7.5 Magnetic pole position estimation 5-41

5.7.6 LED status indicators 5-41

5.8 TS-Monitor (Option) 5-42

5.8.1 Opening or closing the TS-Monitor 5-42

5.8.2 Changing the screen 5-43

5.8.3 Screen configuration and meaning 5-44

5.8.4 Screen color in case of alarm 5-49

5.8.5 SETUP screen 5-49

5.1 Operation procedure

5.1.1 Overall operation timing chartThe operation timing chart from "power ON" to the "positioning operation" is shown below.

Alarm (/ALM)

Control power (L1, N1)

Operation-in-progress (BUSY)

Main power (L, N)

00h

Main power READY (MPRDY)

Initial processing

Operation end (END)

Emergency stop (E-STOP)

Servo ON (SERVO)

Servo status (SRV-S)

Return-to-origin (ORG)

Return-to-origin end status (ORG-S)

Interlock (/LOCK)

Start (START)

Point No. select (PIN0 to PIN7)

01h 00h

00h 01h

*1

�*2

Point No. output (POUT0 to POUT7)

Td≥5ms *3

*4

(1) Turn the control power ON.(2) After initial processing is completed the MPRDY and END signals switch ON.(3) The safety circuit and main circuit switch ON.(4) The /ALM signal switches ON.(5) The /LOCK and SERVO inputs switch ON.(6) After the SRV-S signal switches ON, the ORG input switches ON.(7) The END signal switches OFF when the return-to-origin begins, and BUSY switches on.(8) The ORG input switches OFF when the ORG-S signal switches ON. At this time,

END switches ON, and BUSY switches OFF.



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5-2 Chapter 5 Operation


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(9) The PIN0 to PIN7 inputs occur.(10) The START input switches ON after the Td delay period elapses.(11) The END signal switches OFF when positioning begins, and BUSY switches ON.(12) The START input switches OFF.(13) The END signal switches ON when positioning ends, and BUSY switches OFF.

The specified positioning point No. is output (this output is also possible when the robot starts moving.).

*1 : For details regarding how to configure "emergency stop" and "main power" related safety circuits (external main power breaker circuit), see section 2.8 "Connecting the EXT connector".

*2 : The ORG-S signal is assigned to one of the OUT0 to OUT3 control outputs. It is factory-assigned to OUT3 prior to shipment.

*3 : A delay of 5ms or longer is required between the point No. input and the START command input in order to ensure that the point No. is specified.

*4 : BUSY switches ON during magnetic pole detection at first "servo ON". (See section "5.7.5 Magnetic pole position estimation".)

• Initial processing timeThe internal system's initial processing occurs for approximately 1 second following a power ON. The END output switches ON when initial processing ends. However, when using a field network such as CC-Link, etc., additional initial processing time may be required for communication, depending on the network type and the number of slave units. Therefore, the END output timing following the end of internal initial processing will vary.

• Communication check (field network)In a field network, always check that the communication state is normal before starting operation. When using the host unit's communication status flag to monitor the communication state, allow a time delay of about 200ms after recognizing a normal state, and then start operation. If the time delay is short, the controller output information may not be read correctly, so the operation cannot start normally.

Servo ON(SERVO)

Alarm(/ALM)

Communication status *

200ms or less

Data undefined regionData undefined region

Communication error

* In the case of CC-Link, the time delay is not required if remote READY (R-RDY) is used to check whether the link state is normal.

5-2 Chapter 5 Operation Chapter 5 Operation 5-3


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5.1.2 Alarm occurrence and clearingThe operation timing chart from "alarm occurrence" to "alarm clear" is shown below.


Start (START)

Operation end (END)

00hPoint No. select (PIN0 to PIN7)

Setting 00h

00hPoint No. output (POUT0 to POUT7)

Servo ON (SERVO)


Alarm(/ALM)

Reset (RESET)

Setting

*2

*1

Error occurrenceError occurrence

Alarm No.Alarm No.

(1) /ALM switches OFF if an error occurs during operation. BUSY and SRV-S also switch OFF at this time, and the alarm No. is output. END remains OFF.

(2) The SERVO input switches OFF.(3) The RESET input switches ON after the alarm cause has been eliminated.(4) /ALM and END switch ON.(5) The RESET input switches OFF, and the SERVO input switches ON.(6) SRV-S switches ON and the START input is enabled.

*1 : RESET is enabled after the alarm cause has been eliminated. Although some alarms can be cleared simply by eliminating the cause and executing a RESET, others require a restart. For alarm details, see Chapter 6 "Troubleshooting".

*2 : The No. output at alarm occurrences can be enabled/disabled by the K30 (Alarm No. output function) I/O parameter setting. For details, see " ■ I/O Parameters" item in section 3.4.2 "Parameter details".


5.2 Origin search (return-to-origin)

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5.2 Origin search (return-to-origin)An origin point must be determined in order for this controller to operate a robot in a single-axis coordinate system. This operation is called an "origin search" (or "return-to-origin"). Performing a return-to-origin sets the robot's coordinates and enables positioning.

5.2.1 Origin point detection methodThe origin point can be detected by any of the following methods. The method used varies according to the robot type and the system configuration.

TypeOrigin point detection method

Incremental Semi-absolute

Stroke-end methodSensor method

Absolute searchStroke-end methodSensor method

: Factory setting; : Supported; : Not supported

Semi-absolute"Semi-absolute" is the name for a simple absolute scale used in the PHASER series robots that can be operated with this controller. This is a position detection scale with a quick absolute search function that performs an absolute search on the scale when an origin search (return-to-origin) command is input and determines the absolute position with just a minimal movement. Using this scale drastically reduces the time needed for return-to-origin operation by PHASER series robots, especially those with long-stroke movements.

IncrementalControls an incremental type robot. A return-to-origin operation for the robot is required each time the control power is turned on.

Stroke-end (torque detection) method ■

Movement in the return-to-origin direction occurs when a return-to-origin begins, and continues until the mechanical end is struck. The movement direction is reversed at that time by motor torque detection, and returns by an amount which is unique to each robot. Movement then stops, and a return-to-origin end status is established.

Torque detection

OS

L side

L

K13

R side

O

S

L side

L

K13

R side

Return-to-origin direction



OS

L side

L

K13

R side

OS

L side

L

K13

R sideReturn-to-origin direction

Phase Z

Phase Z Phase Z

Phase Z

S: Return-to-origin start position; O: Origin point; L: Reversed (return) movement amount; K13: Return-to-origin speed

Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)

When robot reaches mechanical end after passing phase Z

When robot reaches mechanical end before passing phase Z



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Sensor method ■

Movement in the return-to-origin direction occurs when a return-to-origin begins, and movement stops when the sensor detects the origin point dog. A return-to-origin end status is then established.

Return-to-origin direction Return-to-origin direction

O S OS

Sensor Sensor

K13 K13

L side L sideR side

R side

R side

R sideReturn-to-origin direction Return-to-origin direction

O S OS

K13 K13

L side L side

Phase Z Phase Z

Phase Z Phase Z

S: Return-to-origin start position; O: Origin point; L: Reversed (return) movement amount; K13: Return-to-origin speed

Sensor detection Return-to-origin direction (K14) = 0 (CCW) Return-to-origin direction (K14) = 1 (CW)

When sensor is detected after passing phase Z

When sensor is detected before passing phase Z

Absolute search (stroke-end method, sensor method) ■

When an absolute search (return-to-origin) begins, the robot starts moving toward the origin point and reads phase Z which is magnetized in the linear scale. When the position is determined, the robot moves back and reads phase Z again to confirm the position. When the position is again determined, the robot stops to complete the absolute search. The distance L that the robot moves in the return-to-origin direction is a maximum of 76mm.


S

L side

K13L L

S

L side

K13

R side R side

S: Return-to-origin start position, K13: Return-to-origin speed

・ When the stroke-end method is used to detect the origin point and the mechanical end is struck during absolute search movementWhen an absolute search (return-to-origin) begins, the robots starts moving toward the origin point. When the mechanical end is struck, the robot moves in the direction opposite to the origin point and reads phase Z which is magnetized in the linear scale. When the position is determined, the robot again moves toward the origin point and reads phase Z again to confirm the position. When the position is again determined, the robot stops to complete the absolute search. The distance L that the robot moves in the return-to-origin direction and in the opposite direction is a maximum of 76mm.

L side R side R side

SK13

L


L sideL

K13S




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・ When the sensor method is used to detect the origin point and the sensor turns on during absolute search movement When an absolute search (return-to-origin) begins, the robots starts moving toward the origin point. When the origin sensor detects the origin dog, the robot moves in the direction opposite to the origin point and reads phase Z which is magnetized in the linear scale. When the position is determined, the robot again moves toward the origin point and reads phase Z again to confirm the position. When the position is again determined, the robot stops to complete the absolute search. The distance L that the robot moves in the return-to-origin direction and in the opposite direction is a maximum of 76mm.

Sensor Sensor

3S

K1L L

K13S

L side R side


R side L side


CAUTION

The appropriate return-to-origin method is factory-set for each robot according to its type, and this factory setting should not be changed.



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5.2.2 Origin point and coordinates relationshipCoordinates are determined in accordance with the return-to-origin direction. The opposite direction from the return-to-origin direction is the "plus" direction. This direction (coordinate) setting can be reversed by changing the K15 ("Origin Coordi.") parameter setting.

Return-to-origin direction (K14) Standard Direction Reverse Direction

CCW

CW

O(Origin point) (Origin point)

(Origin point) (Origin point)



O

O

Coordinate "plus" direction






O

Origin coordinates (K15)

"Origin shift amount" setting ■

The origin point coordinates can be changed by changing the K16 (Origin Shift Amount) parameter setting.The origin point coordinates are therefore this parameter's setting value.

Machine reference ■

When an origin search (return-to-origin) is performed on a robot using the stroke end (torque) or sensor method, a slight difference in distance occurs between the position where the origin signal is detected and the reference position of the motor's position sensor. This difference is called the machine reference and is usually expressed as a percent. The machine reference is factory-adjusted to within 25% to 75%. (The adjustment range varies according to the robot type. For details, refer to the user's manual for the robot being used.) The machine reference can be checked by executing a return-to-origin from the optional Handy Terminal (HT1) or from the support software (TS-Manager).

NOTE

The machine reference must be readjusted if it is not within the 25 to 75% range (or if it is outside the allowable range of the robot being used). For details on the adjustment procedure, please contact us.



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5.2.3 Return-to-origin timing chart



Operation end (END)

Return-to-origin end status (ORG-S)

(1) The ORG input switches ON.(2) When the return-to-origin begins, the END signal switches OFF, and BUSY

switches ON.(3) When ORG-S switches ON, the ORG input switches OFF.(4) BUSY switches OFF, and END switches ON.


5.3 Positioning operation

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5.3 Positioning operationA positioning operation can be performed by creating the required point data ("RUN type", "Position", "Speed", "Accel.", data, etc.), specifying the desired Point Nos. at PIN0 to PIN7 (point No. select), and then executing the START command input. Positioning can be executed as absolute position movement (ABS), as relative position movement (INC), or by a "push" or "merge" operation, etc.

5.3.1 Basic operationThe positioning operation (absolute and relative position movement) and its relationship to the point data is explained here.

Speed

Time

Speed

AccelerationDeceleration

Target position

Setting the "Position" data ■(1) When the RUN type is "ABS"

Positioning occurs to the target position defined by the "position" data.[Example]： If positioning to the 300.000mm position is specified when the current stop position is 50.000mm:

50.000mm 300.000mm

Current positionOrigin point Target position

(2) When the RUN type is "INC"Positioning occurs with the value defined by the "position" data representing the amount of movement from the current stop position.[Example]： If positioning to the 300.000mm position is specified when the current stop position is 50.000mm:

50.000mm 350.000mm

Movement amount = 300.000mmCurrent position

Origin point

TIP

If relative positioning (INC) is stopped while in progress and then restarted, movement occurs for only the remaining movement amount. To perform new relative positioning from the stopped position, the RESET command must first be executed to clear the remaining movement amount.

CAUTION

"Remaining movement amount" movement occurs only at interlock stops. When a servo OFF occurs due to an alarm or by an "emergency stop", etc., the relative positioning's remaining movement amount clears, and the next relative positioning operation begins from the original start position.



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Setting the "Speed", "Accel.", and "Decel." data ■

(1) When using the "Standard setting" point typeThe "Speed" and "Accel." settings are specified as a percentage of the optimal positioning speed and acceleration values for each robot type, based on that robot's maximum speed and maximum payload acceleration values. The "Decel." is specified as a percentage of the "Accel." setting.

Speed

Time

Speed

Acceleration Deceleration

"Speed" setting range: 1 to 100 [%]

When 100%, the max. speed is 1200.00 [mm/s].

Max. speed = 1200.00 [mm/s]Max. acceleration = 8.00 [m/s2]Max. payload acceleration = 4.00 [m/s2]

"Acceleration setting range: 1 to 100 [%]

When 100%, the max. payload accel. is 4.00 [m/s2].

"Deceleration" setting range: 1 to 100 [%]

Set as a percentage of the acceleration value.

(2) When using the "Custom setting" point typeThe "Speed" and "Accel." settings are specified by adopting the maximum speed and acceleration (max. payload acceleration with 0kg payload) values for each robot type as the maximum setting values. If the specified acceleration value exceeds the max. payload acceleration defined by the payload setting, the max. payload acceleration value is used as the setting value.

Speed

Time

SpeedAcceleration Deceleration

"Speed" setting range: 0.01 to 1200.00 [mm/s]

The max. setting value is the max. speed of each robot type.

Max. speed = 1200.00 [mm/s]Max. acceleration = 8.00 [m/s2]Max. payload acceleration = 4.00 [m/s2]

"Acceleration setting range: 0.01 to 8.00 [m/s2]The max. input value is the max. speed of each robot type.The max. acceleration is the max. payload acceleration.

"Deceleration" setting range: 1 to 100 [%]

Set as a percentage of the acceleration value.

Selecting "Standard setting" or "Custom setting" Select "Standard setting", or "Custom setting" as the Point Type setting at the initial processing performed by the TS-Manager support software (optional).



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Maximum payload acceleration and the payload ■

The maximum payload acceleration varies according to the payload setting. The optimum "maximum payload acceleration" is determined based on the robot's registered payload weight. Two "maximum payload acceleration" settings can be selected by "flag" acceleration selection.

m/s2

kg

Max. payload accel. (max. accel.) for 0kg payload

Max. payload accel. for payload setting

Max. payload weightPayload setting value

Max. payload accel. for max. payload

Relationship between "maximum payload acceleration" and "acceleration" ■

In the "Standard setting" point type, the acceleration is optimized within the maximum payload acceleration, based on the positioning speed and movement distance. The "acceleration" and "maximum payload acceleration" are the same in cases where the actual operation speed reaches the robot's maximum speed, but in all other cases, the optimum acceleration is calculated for the positioning operation.In the "Custom setting" point type, the specified acceleration setting becomes the actual operation acceleration unless it exceeds the maximum payload acceleration. In that case, it is limited by the maximum payload acceleration (the operation acceleration cannot exceed the maximum payload acceleration).

100%

30%

<With standard setting>

1200.00mm/s

360.00mm/s

<With custom setting>

Accel. 1 Accel. 1

Accel. 2 Accel. 2

Accel. 1 = [max. payload accel.] × [accel. data] / 100Accel. 2 = optimized value based on accel. 1 Accel. 1 = accel. 2 = accel. data

Setting the speed override ■

When required for safety during trial operation, etc., the overall positioning operation speed can be adjusted by the K9 (Speed Override) parameter setting. The actual operation speed will be as shown below.

Speed = speed data specified at each point data × speed override (K9) / 100



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Acceleration S-curve ■

The TS series features an S-curve function (standard item) to ensure smooth acceleration/deceleration. This results in a maximum acceleration which is 1.4 times that of a trapezoidal acceleration/deceleration format.

Speed

Time

Max. accel.



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5.3.2 Positioning timing chartThe timing chart for positioning operations is shown below.

（1） For "normal end"


Start (START)

Operation end (END)

Td�5ms

00h 00hPoint No. select (PIN0 to PIN7)

Setting


Response

Positioning operation

(1) The PIN0 to PIN7 point number settings are specified.(2) The START input switches ON after the Td delay period elapses.(3) When positioning begins, the END signal switches OFF, and the BUSY signal

switches ON.(4) The START input switches OFF.(5) When positioning ends, the BUSY signal switches OFF, and the END signal

switches ON.

TIP

The "BUSY" ON conditions are "operation in progress" OR "RUN command input in progress".

CAUTION

• Point No. setting conditions

A delay of 5ms or longer (guideline value) is required between the point No. input and the START command, and this START command must be kept ON until the BUSY signal switches ON. A malfunction may occur if the point No. is not set properly due to an insufficient delay time.Moreover, if the host unit's timer is used to specify the delay time, be sure to consider the timer response accuracy to ensure that the actual delay time is 5ms or longer.



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Point No. outputs ■

An answer-back for the point Nos. used in the positioning operation occurs at the POUT0 to POUT7 point No. outputs. This output can be set to occur "WITH" (at movement start), or "AFTER" (at positioning end) by the K25 (POUT select) I/O parameter. (This parameter is factory-set as "AFTER".)


Setting

00h Response

00h



Response

Time

AFTER (At positioning end)

WITH (At positioning start)

NOTEIn merge operations, the operation's merge timing is adopted as the point No. output timing.

(2) For "error end"


START

Operation end (END)


Setting


Error occurrence

If an error occurs before positioning ends, operation stops and the BUSY signal switches OFF. The END signal remains OFF.

An "error end" condition can be caused by the following conditions.

Type Cause

Error detected prior to operation

· START input occurred during an operation fault status (alarm, servo OFF, interlock, return-to-origin not completed.)

· START input occurred with data either not set, or with point data set for a position which exceeds the soft limit.

Error detected during operation

· Alarm occurred during operation.· Interlock stop processing occurred during operation.· A push failure occurred during a push operation.



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5.3.3 Positioning merge operationThe positioning movement speed can be changed while in progress by performing positioning in the merge operation mode.The figure below shows an example of the following merge operation: "operation 1 (P1 positioning) operation 2 (P2 positioning) operation 3 (P3 positioning).

Merge operation example ■Speed

Time

Speed 2

Accel. 1

Decel. 3

Speed 3

Decel. 2

Accel. 1Speed 1

Operation 1 Operation 2 Operation 3

Point data settings

No. RUN typePosition

[mm]Speed[%] Accel. [%] Decel. [%] Jump

P1 ABS merge 200.000 10 100 100 2

P2 ABS merge 400.000 100 100 100 3

P3 ABS 500.000 30 100 100 0

NOTE

·

·

·

Select "ABS merge" or "INC merge" as the RUN type, then set the next point to be merged at the "Jump" item.Even if a "merge" RUN type is selected, merging will not occur if the "Jump" setting is "0". In this case, standard positioning occurs.If the merge destination target positions are in both the forward and reverse directions, a deceleration stop occurs, followed by positioning in the opposite direction.

CAUTION

When performing merge operations, be sure to create an operation pattern which avoids the deficiencies shown below.

(1) When the deceleration distance following a merge is insufficient:Speed

Time

Desirable deceleration

Operation 1 Operation 2



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(2) When the acceleration (deceleration) distance required to reach the merge destination speed is insufficient:

Speed

Time

Operation 2

Desirable acceleration

Operation 1

The inadequate acceleration and deceleration times in the above examples could hinder robot operation.



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5.3.4 Push operationA push operation is performed at the positioning operation. During the push operation, the torque is limited in accordance with the push force being used, allowing workpieces to be grasped and press-fit.

Push operation example

Speed

Time

Speed

Target position

Push status (TLM-S)

Torque

Operation end (END)

Push force

Push judgment time (K5)(K5)

Torque limit zone

CAUTION

• Movement speed during push operation A push operation is performed by suppressing the torque that is generated by limiting the current. Since this operation also suppresses the current needed to move the robot, a problem may occur if the movement speed is high.Set the push speed to meet the following conditions: Speed during push operation ≤ 20.00 [mm/s]

NOTE

At Ver.1.02.102 and later controllers, the maximum push operation speed is limited according to the push speed.

Push force ■

The push force is specified as a percentage of the rated current for each robot type.

CAUTION

•

•

About maximum push forceA thrust generated at the push upper limit is called "maximum push force". The maximum push force indicated in each robot's specifications is the theoretical value (guideline). So, the accrual thrust may vary depending on working conditions, such as friction and others.About push upper limitThis push upper limit shows the maximum setting value which can be set by the push force. This value is unique to each robot.



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Push judgment time ■

This setting is used as the reference for "operation end" judgments at push operations. The "operation end judgment" is made when the time during which the torque level is at the push force reaches the K5 (push judgment time) RUN parameter setting. If a push operation was stopped and then resumed, the judgment time count is the total time during which the torque was at the push force level.

Judgment example when push continued

TLM-S (push status)

END (operation end)

"Push end" conditions: (T1 + T2 + T3 push judgment time (K5)

T1 [ms] T2 [ms] T3 [ms]

Selecting the operation which follows the push judgment ■

The operation which occurs after the push operation ends (after push judgment) can be selected as another push operation (push continue) or as a positioning operation. This selection is made at the K4 (push mode) RUN parameter. (Default setting: "Push continue")

Push failure judgment ■

If positioning to the target position is completed before the push judgment has ended, this is processed as a "push failure". This "push failure" function can be enabled/disabled by the K4 (push mode) RUN parameter setting.

CAUTION

If the intended push operation cannot be performed, possible causes are: ・ Push judgment time is too short. ・ Acceleration during push operation is too large. ・ Push operation was started too soon after an operation other than push was performed.In these cases, taking account of the effects on the object to be pushed, make adjustments such as to extend the push judgment time, reduce the acceleration, and set a timer before starting push operation.



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5.3.5 Deceleration push operationDeceleration ends at the position set as the "Near width" value (distance) short of the target position, and the push operation then begins in accordance with the K6 (push speed) RUN parameter setting.

Deceleration ends when the "near width" setting value (distance) zone is entered ("near" refers to "near the target position"), and the push operation then begins.

Speed

Time

Speed

Target position

Torque

Operation end (END)

Push force

Push judgment time (K5)

Push speed (K6)

"Near width" output (NEAR)

Torque limit zone

TLM-S (push status)

NOTE

·

·

The "push force", "push judgment time", "operation after the push judgment", and "push failure judgment", etc., settings are specified in the same manner as for a standard push operation.The torque limit remains in effect until the next operation begins.

CAUTION

A "near width" distance should be specified which allows an adequate distance for the deceleration speed to be reached. A fast push speed and very small "near width" distance, for example, could hinder operation.



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5.3.6 Continuous operation"Continuous operation" refers to consecutive positioning operations which occur in response to an initial START command input. When one positioning operation ends, and the "Timer" specified delay (wait) time elapses, the next positioning operation begins for the "Jump" specified point No. Operation ends when there are no more "Jump" settings.

The figure below shows the following continuous operation example: Operation 1 (P1 positioning) Operation 2 (P2 positioning) Operation 3 (P3 positioning).

Continuous operation example

Speed

Time

Operation 1 Operation 3Operation 2

Timer 1 Timer 2


Operation end (END)

00h Operation 1 responsePoint No. output (POUT0 to POUT7) Operation 2 response Operation 3 response

Point data settings


[mm]Speed

[%]Accel.

[%]Decel.

[%]Jump

Timer [sec]

P1 ABS 200.000 100 100 100 2 500

P2 ABS 400.000 30 100 100 3 1000P3 ABS 500.000 30 100 100 0 0

NOTE

··

·

The next positioning point No. for continuous operation is specified by the "Jump" setting.If a delay (wait) time is desired before proceeding to the next positioning operation, it can be specified at the "Timer" setting.When "Jump" is not specified (set to 0), the operation ends when that positioning is completed.

TIP

When the "POUT select" I/O parameter is set to "AFTER", the point No. output occurs after each positioning operation, regardless of the timer setting.



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5.3.7 Output functionDuring positioning operations, individual operation speeds and position information are transmitted to the host unit by the outputs shown below.

Speed

Position

Speed

Accel. Decel.

Target position

Movement-in-progress output level (K12)

Movement-in-progress output (MOVE)

Personal zone output (PZONE)

Near width output (NEAR)

Zone +Zone -

Near width

Personal zone output (PZONE) ■

This output switches ON when the current position enters the zone of each point.

Near width (NEAR) ■

This output switches ON when the current position enters the near width zone (near-target-position zone).

Movement-in-progress output (MOVE) ■

This output is ON while robot movement is in progress. The minimum speed for recognizing a movement-in-progress condition can be specified at the K12 (movement-in-progress output level) RUN parameter.



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5.3.8 Speed switch functionThe overall positioning operation speed can be switched between two levels from the host equipment by using the speed switch input (SPD).

Assigning method ■

When you set the "Speed switch function" (K17) to "Enable", the speed switch (SPD) will be assigned to JOG+ input. SPD will be ON at the same time as the selection of point number, and the positioning operation will be performed at the speed calculated by multiplying the current speed by the value specified at "Switched speed" (K18).* Cannot be assigned in the manual mode (MANUAL=ON).

SPD Speed

OFF Speed 1 = Specified speedON Speed 2 = Specified speed × Switched speed (K18) / 100

* Specified speed means "speed data specified at each point data × speed override (K9) / 100".

Timing chart ■

Operation-in-progress(BUSY)

START

Switched speed

Speed 1

Speed 2

(SPD)

Operation end(END)

Td

00h 00hPoint No. select(PIN0 to PIN7) Setting Setting 00h

Td

ONOFF

CAUTIONThis function is available from controller's software version 1.06.111 onwards.



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5.3.9 Operation examples

Setting example 1 (movement between 2 points, standard setting) ■

Speed

Position

P2 (500.000mm)

P1(200.000mm)

100%

100%


[mm]Speed

[%]Accel.

[%]Decel.

[%]Flag

P1 ABS 200.000 100 100 100 1

P2 ABS 500.000 100 100 100 0

(1) P1 P2 positioning occurs.(2) Return to P1.

Setting example 2 (movement between 2 points, custom setting) ■

500.00mm/s

250.00mm/s

Speed

Position

P2(500.000mm)

P1(200.000mm)


[mm]Speed

[%]Accel.

[%]Decel.

[%]

P1 ABS 200.000 250.00 4.00 100

P2 ABS 500.000 500.00 4.00 50

(1) P1 P2 positioning occurs.(2) Return to P1.



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Setting example 3 (positioning + pitch feed) ■

Speed

Position

100.000mm

P1(0.000mm)

100%

100%

P2(200.000mm)

100.000mm 100.000mm


[mm]Speed

[%]Accel.

[%]Decel.

[%]

P1 ABS 0.000 100 100 100

P2 ABS 200.000 100 75 100

P3 INC 100.000 100 100 100

(1) P1 P2 positioning occurs.(2) Pitch feed corresponding to the P3 movement amount occurs.(3) Return to P1.

Setting example 4 (merge operation) ■

P1(0.000mm)

100%

100%

10%

P2(200.000mm) P4

(500.000mm)

P3(400.000mm)

Speed

Position


[mm]Speed

[%]Accel.

[%]Decel.

[%]Jump

P1 ABS 0.000 100 100 100 0

P2 ABS merge 200.000 100 100 100 3

P3 ABS merge 400.000 10 100 100 4

P4 ABS 500.000 100 100 100 0

(1) Merge operation from P1 P2 P3 P4.(2) Return to P1.



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Setting example 5 (workpiece push) ■

Speed

PositionP1(0.000mm)

100%

100%

P2(350.000mm)

P3(100.000mm)

Workpiece


[mm]Speed

[%]Accel.

[%]Decel.

[%]Push Force

[%]

P1 ABS 0.000 100 100 100 100

P2 ABS 350.000 100 100 100 100

P3 INC Push 100.000 10 100 100 70

(1) P1 P2 positioning occurs.(2) Push operation corresponding to the P3 movement amount occurs.(3) Return to P1.

Setting example 6 (workpiece push) ■

P1(0.000mm)

1000.00mm/s

1000.00mm/s

P2(450.000mm)

100.000mm

Speed

Position

P3 (350.000mm)

Push speed (K6) Workpiece


[mm]Speed

[%]Accel.

[%]Decel.

[%]Push

Force [%]Near Width

[mm]

P1 ABS 0.000 1000.00 4.00 100 100 1.000

P2 ABS Push 450.000 1000.00 4.00 100 70 100.000

P3 ABS 350.000 100.00 1.00 100 100 1.000

(1) P1 P2 push operation occurs (deceleration occurs 100.000mm before P2).(2) After push operation ends, positioning to P3 occurs.(3) Return to P1.


5.4 MANUAL mode

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5.4 MANUAL modeIn the MANUAL mode, JOG movement and position teaching, etc., can be performed from a host unit by using the optional Handy Terminal (HT1) or the TS-Manager support software. This section explains the MANUAL mode functions.

5.4.1 MANUAL mode timing chart


Teaching (TEACH)

Operation end (END)

Td

00hPoint No. select (PIN0 to PIN7) Setting 00h

MANUAL mode (MANUAL)

MANUAL mode status (MANU-S)

Interlock (/LOCK)

JOG plus-direction movement (JOG+)

JOG minus-direction movement (JOG-)

*2

*1

*3

*1 : The MANUAL mode is established while the MANUAL input is ON.

*2 : The MANU-S output can be assigned to the OUT0 to OUT3 control outputs. This requires the assignments to be specified by I/O parameter setting.

*3 : The interlock function must be OFF in order to execute the TEACH command.


5.4 MANUAL mode

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5.4.2 JOG movementWhen in the MANUAL mode ("MANUAL" ON), robot JOG movement in the specified direction is possible while the JOG+ / JOG- input is ON. When this input switches OFF, a deceleration stop occurs. JOG movement can be performed even if a return-to-origin has not been completed.

Speed

Time

BUSY

END

JOG

Jog speed (K10)

JOG response time (K32)

Inching width（K11）

• When the K32 (JOG response time) I/O parameter is set as "0":Movement continues at the JOG speed (K10) until the JOG input switches OFF.

• When the K32 (JOG response time) I/O parameter is set as other than "0":Movement corresponding to the inching amount (K11) occurs at the leading edge of the JOG movement input ON, and, after the JOG response time elapses, movement continues at the JOG speed (K10) until the JOG movement input switches OFF.

CAUTION

The soft limit is disabled if a return-to-origin has not been completed. Use care when performing operations at this time.


5.4 MANUAL mode

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5.4.3 TEACH (Teaching)When in the MANUAL mode ("MANUAL" ON) with "/LOCK" switched OFF, the current position can be written to the specified point No. at the leading edge of the TEACH input ON.

NOTEThe TEACH function is disabled if a return-to-origin has not yet been completed.

Origin point Position

Current position

210.450mm

• Writing the current position to a point for which data exists


[mm]Speed

[%]Accel.

[%]Decel.

[%]Flag

P3 ABS 500.000 50 100 100 0

▼ TEACH


[mm]Speed

[%]Accel.

[%]Decel.

[%]Flag

P3 ABS 210.450 50 100 100 0The current position is written to the position data.

• Writing the current position to a point for which data does not exist


[mm]Speed

[%]Accel.

[%]Decel.

[%]Flag

P3 - - - - - -

▼ TEACH


[mm]Speed

[%]Accel.

[%]Decel.

[%]Flag

P3 ABS 210.450 100 100 100 0

The current position is written to the position data, and default values are adopted for the other data.

CAUTION

• Point No. setting conditions

A delay of 5ms or longer (guideline value) is required between the point No. input and the current position TEACH command, and this TEACH command must be kept ON until the BUSY signal switches ON. A malfunction may occur if the point No. is not set properly due to an insufficient delay time.Moreover, if the host unit's timer is used to specify the delay time, be sure to consider the timer response accuracy to ensure that the actual delay time is 5ms or longer.


5.5 Remote commands

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5.5 Remote commands

5.5.1 OverviewRemote commands use the field network's remote registers to read and write various types of information.

CC-Link ■


Address Signal Name Description Address Signal Name Description

RWwn WIN0 Execution command RWrn WOUT0 Status

RWwn+1 WIN1Command option

RWrn+1 WOUT1Command responseRWwn+2 WIN2 RWrn+2 WOUT2

RWwn+3 WIN3 RWrn+3 WOUT3


DeviceNet ■



m+2 WIN0 Execution command n+2 WOUT0 Status

m+3 WIN1Command option

n+3 WOUT1Command responsem+4 WIN2 n+4 WOUT2

m+5 WIN3 n+5 WOUT3


5.5.2 Remote command list

■ Query

NameCommand Command Option Command Response

WIN0 WIN1 WIN2, WIN3 WOUT1 WOUT2, WOUT3

Current position read 0100h 0000h - - Current position

Current speed read 0100h 0001h - - Operation speedElectrical current read 0100h 0002h - - Electrical current

Voltage read 0100h 0009h - - VoltageTemperature read 0100h 000Ah - - TemperatureCurrent point No. read 0100h 000Dh - - Operation-in-

progress point No.Load rate read 0100h 000Eh - - Load rate

NOTE2-word data is registered as the command response (Little Endian).


5.5 Remote commands

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■ Point data writing



Operation type write 0200h Point No. Operation type Point No. -

Position write 0201h Point No. Position data Point No. -Speed write 0202h Point No. Speed data Point No. -

Acceleration write 0203h Point No. Acceleration data Point No. -

Deceleration write 0204h Point No. Deceleration data Point No. -

Push force write 0205h Point No. Push force data Point No. -

Zone (-) write 0206h Point No. Zone (-) data Point No. -Zone (+) write 0207h Point No. Zone (+) data Point No. -

"Near width" write 0208h Point No. "Near width" data Point No. -

Jump write 0209h Point No. Jump data Point No. -Flag write 020Ah Point No. Flag data Point No. -Timer write 020Ch Point No. Timer data Point No. -

NOTE

•

•

"Position", "speed", "acceleration", "deceleration", and "push force" writing occurs in the RAM. To save the data to memory, the "operation type" must be written after writing each of these data items.The permissible point No. setting range at the command option is "1 (0001h) to 255 (00FFh)". When a command is executed, a point No. answerback is returned to the command response (WOUT1).

■ Point data reading



Operation type read 0300h Point No. - Point No. Operation type

Position read 0301h Point No. - Point No. Position dataSpeed read 0302h Point No. - Point No. Speed dataAcceleration read 0303h Point No. - Point No. Acceleration dataDeceleration read 0304h Point No. - Point No. Deceleration dataPush force read 0305h Point No. - Point No. Push force dataZone (-) read 0306h Point No. - Point No. Zone (-) dataZone (+) read 0307h Point No. - Point No. Zone (+) data"Near width" read 0308h Point No. - Point No. "Near width" dataJump read 0309h Point No. - Point No. Jump dataFlag read 030Ah Point No. - Point No. Flag dataTimer read 030Ch Point No. - Point No. Timer data

NOTE

•

•

The permissible point No. setting range at the command option is "1 (0001h) to 255 (00FFh)".2-word data is registered (Little Endian) at the command response (WOUT2, WOUT3).


5.5 Remote commands

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Parameter writing ■



Speed override (K9) write 0400h 0009h Speed override - -

JOG speed (K10) write 0400h 000Ah JOG speed - -

Inching width (K11) write 0400h 000Bh Inching width - -

Parameter reading ■



Speed override (K9) read 0500h 0009h - - Speed override

JOG speed (K10) read 0500h 000Ah - - JOG speed

Inching width (K11) read 0500h 000Bh - - Inching width

NOTE2-word data is registered as the command response (WOUT2, WOUT3) (Little Endian).

■ Special codes



Status clear(no execution) 0000h - - - -

Command response clear 0F00h - - 0000h 00000000h

■ Status

NameStatus

DescriptionWOUT0

Command ready 0000h Command execution is enabled.

Command-in-progress 0100h Command has been received and is being executed.

Command-end 0200h Command ended normally.

Command error end 40xxh Command ended in error.The alarm No. is output as the "xx" value.

NOTE

When a "command error end" (40xxh) condition occurs, the alarm No. is output as the "xx" value. For details regarding alarm numbers and alarm meanings, see section 6.4 "Alarms: Possible causes and actions ".


5.5 Remote commands

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5.5.3 Timing chartRemote command transmission/reception timing chart examples are given below.

When executing a query ■

[Example] Executing "current position" reading

Status(WOUT0) 0000h0000h0000h 0200h 0200h

Command option(WIN1) 0000h 0000h 0000h 0000h 0000h

Command(WIN0) 0000h 0100h 0000h 0100h 0000h

Command response(WOUT2, WOUT3) 00000000h 00002710h(=10000) 00004E20h(=20000)

Td Td

0100h 0100h

When executing point data writing/reading ■

[Example] Executing position writing/reading

0000h0000h 0200h 0000h0200hStatus(WOUT0)

Command option(WIN1)

0000h 0001h 0001h0000h 0000h

Td Td

Command option(WIN2, WIN3)

00000000h

00000000h00002710h

00000000h

00000000h00002710h

Command(WIN0) 0000h 0201h 0301h0000h 0000h

0100h 0100h

Command response(WOUT1) 0000h 0001h(=1) 0001h(=1)

Command response(WOUT2, WOUT3) 00000000h 00002710h(=10000)

When executing parameter data writing/reading ■

[Example] Executing speed override (K9) writing/reading

Status(WOUT0)

Command(WIN0)

Command option(WIN1)

Command option(WIN2, WIN3)

Command response(WOUT2, WOUT3)

0000h 0200h

0100h

0000h 0400h

0000h 0009h

Td

0200h

0100h

0500h

0009h

Td

0000h

0000h 0000h

0000h

00000000h

00000064h

00000000h 00000064h(=100)

00000000h

0000h0000h

Delay time (Td) settingBecause remote commands are processed across multiple channel (word) information, a prescribed time period is required for each area's information to be refreshed. Therefore, after each command option setting, a delay time (Td) is required before the command is set. For "Td" details, refer to the operation manuals for the network and host types being used.


5.5 Remote commands

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5.5.4 QueryReads information (current position and speed, etc.) related to the operation.

Input

Command Option Command

WIN3 WIN2 WIN1 WIN0

- - Type 0100h

Output

Command Response Status

WOUT3 WOUT2 WOUT1 WOUT0

Data - 0200h

NOTEThe "Data" is output as 2-word, Little Endian data.

Command type and response data ■

Command(WIN0)

Command Option Command ResponseUnitsType

(WIN1)Data

(WOUT2, WOUT3)

0100h

0000h Current position 0.001mm

0001h Current speed 0.01mm/s

0002h Electrical current %

0009h Voltage 0.1V

000Ah Temperature ℃

000Dh Current point No. -

000Eh Load rate %


5.5 Remote commands

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5.5.5 Point data writingPoint data is written.

Input


WIN3 WIN2 WIN1 WIN0

Data Point No. 02xxh

Output



- Point No. (response) 0200h

Commands and data ■

Command(WIN0)

Command Option UnitsData Write DestinationPoint No.

(WIN1)Data

(WIN2, WIN3)Standard Setting Custom Setting

0200h Operation type - ROM

0201h Position 0.001mm RAM0202h Speed % 0.01mm/s RAM0203h Acceleration % 0.001m/s2 RAM0204h 1(0001h) Deceleration % RAM0205h to Push force % RAM0206h 255(00FFh) Zone (-) 0.001mm ROM0207h Zone (+) 0.001mm ROM0208h Near width 0.001mm ROM0209h Jump - ROM020Ah Flag - ROM020Ch Timer ms ROM

CAUTION

Because an EEPROM is used as the ROM, the number of writing operations is limited. Users should therefore refrain from writing unnecessary data to the ROM.

NOTE

Data which has been written to the RAM is not saved to memory, and the original data is restored when a restart occurs. To save the RAM data to memory, the "operation type" must be written after writing each data item.

TIPFor point data details, see Chapter 3, section 3.2 "Point data".


5.5 Remote commands

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5.5.6 Point data readingPoint data is read.

Input


WIN3 WIN2 WIN1 WIN0

- Point No. 03xxh

Output



Data Point No. (response) 0200h

NOTEThe "Data" is output as 2-word, Little Endian data.

Commands and data ■

Command(WIN0)

Command Option Command Response Unit

Point No.(WIN1)

Data(WOUT2, WOUT3)

Standard Setting Custom Setting

0300h Operation type -

0301h Position 0.001mm0302h Speed % 0.01mm/s0303h Acceleration % 0.001m/s2

0304h 1(0001h) Deceleration %0305h to Push force %0306h 255(00FFh) Zone (-) 0.001mm0307h Zone (+) 0.001mm0308h Near width 0.001mm0309h Jump -030Ah Flag -030Ch Timer ms

TIPFor point data details, see Chapter 3, section 3.2 "Point data".


5.5 Remote commands

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5.5.7 Parameter data writingParameter data is written.

Input


WIN3 WIN2 WIN1 WIN0

Data Parameter No. 0400h

Output



- - 0200h

Command type and data ■

Command（WIN0）

Command OptionUnitParameter No.

（WIN1）Data

（WIN2, WIN3）

0400h0009h Speed override (K9) %

000Ah JOG speed (K10) %

000Bh Inching width (K11) 0.001mm

CAUTION

As the parameter data is written into the EEPROM, there is a limit to the number of data writing cycles. So, it is necessary to avoid writing parameter data unnecessarily.

TIPFor parameter data details, see Chapter 3, section 3.4 "Parameter data".


5.5 Remote commands

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5.5.8 Parameter data readingParameter data is read.

Input


WIN3 WIN2 WIN1 WIN0

- Parameter No. 0500h

Output



Data - 0200h

Command type and response data ■

Command（WIN0）

Command Option Command ResponseUnitParameter No.

（WIN1）Data

（WOUT2, WOUT3）

0500h0009h Speed override (K9) %

000Ah JOG speed (K10) %

000Bh Inching width (K11) 0.001mm

TIPFor parameter data details, see Chapter 3, section 3.4 "Parameter data".


5.6 Operation modes

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5.6 Operation modesIn addition to I/O control from a host unit (PLC, etc.), the TS series also offers communication control from a personal computer (running the TS-Manager support software) and from Handy Terminal (HT1). In order to use these tools in a safe manner, the desired operation mode can be selected to enable exclusive operation.To select the operation mode, use the TS-Manager or HT1.

• Normal mode (NRM)This mode permits both I/O control and communication control from the PC or HT1.

• Monitor mode (MON)This mode permits full I/O control, but communication control from the PC or HT1 is limited to "monitoring" only, and data editing is not possible. Data can be transmitted from the controller to the PC in this mode.

• Debug mode (DBG)Communication control from the PC or HT1 is possible in this mode, but I/O control inputs are prohibited.

Operation mode functions ■

Each mode and its available functions are shown below.

Type

I/O Control

Communication Control

Input OutputData Change

PC, HT1

Data Transmission Monitor PC, HT1

Operation PC, HT1PC Controller Controller PC

NRM modeNRM mode (safety)MON modeMON mode (safety)DBG modeDBG mode (safety)

: Permitted : ProhibitedWhen in a mode "safety" status, the robot operation is limited to the "safety" speed.

CAUTION

•

•

•

Normal mode allows operation by I/O control and communication control. However, if an operation is attempted by one control method while operated by the other method, unexpected operation may occur or communication may fail. Use only one of these control methods in Normal mode.In Monitor mode, the [STOP] button on the PC software and the STOP key on the HT1 are disabled. To stop the robot during operation by a method other than I/O control, press the emergency stop button.In Debug mode, I/O control input is disabled, so the robot does not stop by interlock input. To stop the robot during operation, use the [STOP] button on the PC software or the STOP key on the HT1, or press the emergency stop button.

WARNING

The robot normally moves a high speeds. In order to ensure safety when performing tasks within the robot movement range, or when performing trial operations, etc., the "safety speed" should be selected at those times. The "safety speed" is factory-set to 250mm/s prior to shipment.


5.7 Other functions

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5.7 Other functions5.7.1 Soft limit functionSoftware imposed limits can be applied to the robot's range of motion in order to prevent interference with peripheral equipment. Robot movement is then restricted to target positions which are within the range specified by the soft limit function. The soft limit range can be set at the K1 (soft limit (-)) and K2 (soft limit (+)) RUN parameters.

Mechanical end Mechanical end

Soft limit (-) (K1) Soft limit (+) (K2)

Movement range imposed by soft limit

Position

(1) Movement from a stop position within the soft limit to a target position within the soft limit (permitted).

(2) Movement from a stop position within the soft limit to a target position outside the soft limit (prohibited).

(3) Movement from a stop position outside the soft limit to a target position within the soft limit (permitted).

5.7.2 Zone output functionThis function outputs information which indicates whether or not the robot's current position is within a specified zone, and it can be used to check the robot's position from a host unit, or to recognize zones where movement is permitted or prohibited, etc. The zone boundaries can be set by the K7 (Zone -) and K8 (Zone +) RUN parameters.

Zone (-) (K7)

Zone (+) (K8)

Position

Zone output (ZONE)

NOTEThe zone output function is disabled if a return-to-origin has not yet been completed.


5.7 Other functions

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5.7.3 Alarm No. output functionWhen an error alarm occurs, the alarm No. is output to the POUT0 to POUT7 point No. outputs. If multiple alarms have occurred, the highest priority alarm No. is output. The alarm No. output function can be enabled/disabled by the K30 (Alarm No. output function) I/O parameter setting.

Output examples ■

Alarm Type No.Point No. Output

POUT7 POUT6 POUT5 POUT4 POUT3 POUT2 POUT1 POUT0

Position detection error 82 1 0 0 0 0 0 1 0

Overload error 86 1 0 0 0 0 1 1 0Main power outage C2 1 1 0 0 0 0 1 0

1 : ON 0 : OFF

5.7.4 Changing the payloadThe TS series automatically sets the acceleration and optimizes positioning operations based on the payload which has been defined. However, in conveyance systems, the payload can vary greatly depending on whether or not the conveyance objects are loaded or not. In such cases, selection is possible from 2 payload types for each operation. The payload selection is made at each point data's "Flag" setting.

Item Setting Description

Payload selectFlag bit0 = 0 Payload 1 (K76) applies

Flag bit0 = 1 Payload 2 (K78) applies

Setting examples ■

No. RUN type Position [mm] Speed [%] Accel. [%] Decel. [%] Flag

P1 ABS 200.00 100 100 100 1P2 ABS 500.00 100 100 100 0

Payload 1: 30kg (Max. payload accel. 1: 1.60m/s2)Payload 2: 3kg (Max. payload accel. 2: 4.00m/s2)

Speed

Operation 1 (movement to P1) Operation 2 (movement to P2)

Operation with 3kg payload Operation with 30kg payload

TIPIn the "Custom setting" mode, the max. payload acceleration "trip" setting is adopted.


5.7 Other functions

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5.7.5 Magnetic pole position estimationThe magnetic pole position is estimated at first "servo ON" after the control power is turned on. This operation is described below.

Timing chart ■

Servo ON (SERVO)



Status Servo OFF Magnetic pole position estimation Servo hold

BUSY switches ON during magnetic pole position estimation and switches OFF when complete, indicating that the robot is ready to start operation.

Operation ■

The magnetic pole position is estimated while moving the robot a small distance at the timing of the first "servo ON". During this operation, the robot moves a few millimeters to a dozen millimeters, depending on the robot model.

CAUTION

Do not perform magnetic pole position estimation while an external force is applied to the robot or the robot is at a position near the mechanical end. Doing so may fail to estimate the magnetic pole position and cause an alarm.

5.7.6 LED status indicatorsOperation statuses are indicated by 2 types of LEDs located on the front face of the controller. The LED statuses and their meanings are listed below.

LED Name Color Status Meaning

PWR Blue

OFF Control power shutoffBlinking

(at 0.5sec intervals) Servo OFF

ON (constant ON) Servo ON

ERR Red

OFF Control power shutoff or no active error alarms (normal)

Blinking (at 0.5sec intervals) Error alarm active (external cause)

ON (constant ON) Error alarm active (internal cause)


5.8 TS-Monitor (Option)

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5.8 TS-Monitor (Option)This TS-Monitor is a LCD panel option prepared as an option of the controller.The TS Monitor displays various information on the screen, allowing you to check such information.

Screen Contents

INFORMATION screen Displays the controller, robot model name, or point type you are using.

MAIN screenDisplays the internal status of the servo and other devices, run mode, or current position. Additionally, if an alarm occurs, this screen also displays the alarm number and alarm name.

I/O screen Displays the status of the input/output signal exchanged with the host controller.

STATUS screen Displays the internal status of the servo, emergency stop, or origin sensor.

RUN screen Displays the operation information, such as current position or speed.CHECK screen Displays the internal voltage or internal temperature of the controller.

5.8.1 Opening or closing the TS-MonitorYou can open or close the TS-Monitor regardless of the controller power on/off status.

WARNING

•

•

When opening or closing the TS-Monitor with the controller power turned on, make sure that the controller is not hot. If you touch a hot part, this might result in a burn injury.When opening or closing the TS-Monitor with the controller power turned on, do not touch any connector. Doing so might cause an electric shock.

CAUTION

•

•

•

Do not attempt to process the communication connector 2 (COM2) and the connector on the rear of the TS-Monitor. Doing so might cause a communication error or a malfunction.When opening or closing the TS-Monitor, hold the controller main body and TS-Monitor securely.When opening the TS-Monitor, pay special attention so that your hand is not caught in the cover.



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5.8.2 Changing the screenPress the ▲ button or ▼ button on the TS-Monitor to change the TS-Monitor screen as follows.

Changing the screen after normal startup

Startup screen

INFORMATION screen

Transits after a certain period of time has elapsed.

� button(or transits after a certain period of time has elapsed.)

� button � button

� button

� button

� button

� button


� button

� button

� button

Transits to the MAIN screen.

MAIN screen

I/O screen

CHECK screen

RUN screen

STATUS screen

Alarm occurs.

The TS-Monitor always monitors the alarm. If the TS-Monitor detects an alarm, the screen will change to the MAIN screen. At this time, if an alarm has already occurred, the screen does not change to the MAIN screen.* The alarm described herein is the error alarm and warning alarm.

Additionally, if an error alarm occurs, the screen color will change. For details, see section "5.8.4 Screen color in case of alarm".



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When turning on the power while holding down the ▼ button, the SETUP screen will start up. On the SETUP screen, you can make the LCD setting. For details, see section "5.8.5 SETUP screen".When the SETUP screen is displayed, press the ▼ button while holding down the ▲ button. The screen will then return to the normal startup screen.

Changing the SETUP screen

Startup screen

Power on

Subsequently, transits to normal screen operation.

� button

� buttonPress the � and � buttons at the same time

Press the � and � buttons at the same time

Press the � and � buttons at the same time


SETUP screen

COM SETUPLCD SETUP

5.8.3 Screen configuration and meaning

■ Startup screenWhen starting up the TS-Monitor, the following screen will appear.

Startup screen

TS-MONITOR

VER. 1.00

Booting up...

Software version



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■ INFORMATION screen"INFORMATION" is displayed in the page name area at the uppermost portion on the INFORMATION screen.

INFORMATION screen

INFORMATION

CONT :TS-P-10A

VER :1.03.105

ROBOT:MF20

P.TYP:CUSTOM

Controller name

Controller software version

Robot name

Point type

Point type

Display Meaning

NORMAL Normal settingCUSTOM Custom setting

■ MAIN screen"MAIN" is displayed in the page name area at the uppermost portion on the MAIN screen.

MAIN screen (in normal operation)

DBG S

S O

E L

P A

MAIN-TS-MONITOR

POS: 0.000 mm

Desired character string specified by the user.This character string is set with the TS-Manager. (Up to 10 characters)

Current position

Run mode

Simple status display� : ON, � : OFF

MAIN screen (in cause of alarm)

DBG S

S O

E L

P A

MAIN-TS-MONITOR

ENCODER ERROR POS: 0.000 mm

Alarm name

Error or warning alarm numberIf no alarm occurs, "00" is displayed.



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Simple status display

Display Meaning Description

S Servo status Displays the servo status. ON: Servo on status, OFF: Servo off status

E Emergency stop Displays the emergency stop status. ON: Emergency stop status

P Main power failure Displays the main power voltage drop. ON: Main power voltage drop

O Return-to-origin completion status

Displays the return-to-origin completion status. ON: Return-to-origin complete status, OFF: Return-to-origin incomplete status

L Interlock status Displays the interlock status. ON: Interlock status

A Alarm Displays the alarm occurrence status. ON: No alarm occurs. OFF: Alarm is occurring.

Run mode

Display Meaning

NRM Normal mode

MON Monitor mode

DBG Debug mode

NRM S Normal mode (safety)

MON S Monitor mode (safety)

DBG S Debug mode (safety)

■ I/O screen"I/O" is displayed in the page name area at the uppermost portion on the I/O screen.

I/O screen

1 O234567

9 8ABCDEF

1 O234567

9 8ABCDEF

I/O

IN

OUT

ON OFF

Input signal statusDisplays the status of input bit 0 to 15.� : ON, � : OFF

Output signal statusDisplays the status of output bit 0 to 15.� : ON, � : OFF

Bit signal correspondence table

IN

F E D C B A 9 8

SERVO RESET START /LOCK ORG MANUAL JOG- JOG+7 6 5 4 3 2 1 0

PIN7 PIN6 PIN5 PIN4 PIN3 PIN2 PIN1 PIN0

OUT

F E D C B A 9 8SRV-S /ALM END BUSY OUT3 OUT2 OUT1 OUT0

7 6 5 4 3 2 1 0POUT7 POUT6 POUT5 POUT4 POUT3 POUT2 POUT1 POUT0



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■ STATUS screen"STATUS" is displayed in the page name area at the uppermost portion on the STATUS screen.

STATUS screen

ON OFFSTATUS

SRV-S E-STOP

ORGSEN P-BLK

TLM-S ORG-S

MOVE WARN

Status display� : ON, � : OFF

Status display

Display Meaning Description

SRV-S Servo status Displays the servo status. ON: Servo on status, OFF: Servo off status

ORGSEN Origin sensor Displays the input status of the origin sensor. ON: Origin sensor on, OFF: Origin sensor off

TLM-S Push status Displays the push status. ON: Pushing

MOVE Move status Displays the move status. ON: Moving

E-STOP Emergency stop Displays the emergency stop status. ON: Emergency stop status

P-BLK Main power failure Displays the main power voltage drop. ON: Main power voltage drop

ORG-S Return-to-origin completion status

Displays the return-to-origin completion status. ON: Return-to-origin complete status, OFF: Return-to-origin incomplete status

WARN Warning output Displays the warning alarm occurrence status. ON: Warning is occurring., OFF: No warning occurs.

■ RUN screen"RUN" is displayed in the page name area at the uppermost portion on the RUN screen.

RUN screen

RUN

POS 500.000 mm

SPD 600.00 mm/s

LOAD 69 ％

ABS MERGE ▶P123

Run type

Robot current positionRun point

Robot operation speedDisplays the graph of the current speed assuming that the maximum speed is 100%

Load rateDisplays the numeric value and graph of the load rate.



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Run type

Display Meaning

HOLD Servo is off or robot is stopping.ABS ABSINC INCABS MERGE ABS merge operationINC MERGE INC merge operationABS PUSH ABS push operationINC PUSH INC push operationABS->PUSH ABS deceleration push operationINC->PUSH INC deceleration push operationORG Return-to-origin

■ CHECK screen"CHECK" is displayed in the page name area at the uppermost portion on the CHECK screen.

CHECK screen

CHECK

VOLT: 270.0 V

TEMP: 36 ℃

TIME: 4:01:23

DIST: 15.827 km

Internal voltage of controller

Temperature inside controller

Total startup time of controller (Day : Hour : Minute)

Total movement distance of robot

■ SETUP screen"SETUP" is displayed in the page name area at the uppermost portion on the SETUP screen.

SETUP screen

SETUP

LCD SETUP

COM SETUP



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5.8.4 Screen color in case of alarmThe screen color of the TS-Monitor changes according to the alarm occurrence status.The screen status and its meaning are descried in the table below.

Status Meaning

Blinks in blue (at intervals of 0.5 sec.). Servo is off and no error alarm occurs.Lit in blue. * Servo is on and no error alarm occurs.Blinks alternately in red and blue (at intervals of 0.5 sec.). Error alarm is occurring. (External factor)

Lit in red. Error alarm is occurring. (Internal factor)

* Goes off when the backlight turns off or after a specified period of time has elapsed.

5.8.5 SETUP screenYou can set the LCD contrast and backlight on time on the SETUP screen.To set these items, follow the steps below.

1 Turn on the power while holding down the ▼ button.The SETUP screen will start up.

2 When the SETUP screen is displayed, press the ▲ button to move the

cursor to "LCD SETUP", and then press the ▼ button.The LCD SETUP screen will appear and displays the set contents of the LCD.

SETUP

LCD SETUP

COM SETUP

LCD SETUP

CONTRAST : 3

BACK LIGHT:ON

CAUTION

Do not change the set contents of the "COM SETUP" (communication setup). Doing so might cause the TS-Monitor to display incorrectly.

3 Press the ▲ button to move the cursor to a desired item you want to

change, and then press the ▼ button.After that, you can change the item you have selected.

LCD SETUP

CONTRAST : 3

BACK LIGHT:ON

LCD SETUP

CONTRAST : 3

BACK LIGHT:ON



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4 Change the setting.Change the setting with the ▲ button and press the ▼ button to set the setting you have changed. To change other setting item, repeat Steps 2 to 3. CONTRAST : Set a contrast in steps of 1 to 5. BACK LIGHT : Set a period of backlight on time. ON : Always on. OFF : Always off. 5 : Goes off after 5 sec. 10 : Goes off after 10 sec. 30 : Goes off after 30 sec.

NOTE

The backlight on time setting to be set in this step is used when the screen is lit in blue (servo is on and no error alarm occurs). In other status, the backlight is lit or blinks regardless of the backlight setting time.

5 Press the ▼ button while holding down the ▲ button.The screen will return to the SETUP screen. To return to the normal startup screen from the SETUP screen, press the ▼ button with the ▲ button kept pressed when the SETUP screen is displayed.

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Chapter 6 Troubleshooting

Contents

6.1 Alarm groups 6-1

6.2 Alarm recording function 6-1

6.3 Alarm list 6-2

6.4 Alarms: Possible causes and actions 6-3

Chapter 6 Troubleshooting 6-1

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6.1 Alarm groups

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6.1 Alarm groupsAlarms on this controller are one of the following 5 groups.

Group Description

Message alarm Error messages involving data editing or operation commands sent as data.

Operation alarm Alarm that appears when operation ends due to an error.

Error alarm (internal cause)

Alarm that occurs due to internal causes. To resume operation after eliminating the cause of the problem, you must reset the alarm or turn the power off and back on again. An alarm description is stored in the alarm history.

Error alarm (external cause)

Alarm that occurs due to external causes. Alarm occurs when safety circuit is triggered. Operation can resume after eliminating the cause.

Warning alarm Alarm that is displayed as a warning. (This does not directly affect operation.)

6.2 Alarm recording functionThis function records and stores the error alarms (internal cause) as they occur, along with their alarm number and alarm conditions at that time. Up to 50 alarms can be stored.* This function does not store the "81: AC POWER DOWN" error alarm.

Alarm description ■

Item Description Units

Cause If 2 or more error alarms occur, the cause of the alarm with the smaller alarm No. is stored. -

Time Total time counted while control power was on. Day：hour：minute

Position Current position information when an alarm occurred mmSpeed Speed at which robot was moving when alarm occurred. mm/sRun status "Run type" that was selected when alarm occurred. -

Run point Point number that was selected for operation when alarm occurred. When not in operation a 0 (zero) is entered. -

Current Command current when alarm occurred %Voltage Motor power voltage when alarm occurred VInput Input information when alarm occurred -Output Output information when alarm occurred -

6-2 Chapter 6 Troubleshooting

6.3 Alarm list

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6.3 Alarm listThe following table shows alarm numbers, messages, and reset methods.

Alarm No. Alarm Message Reset *1 Origin Position *2

02 DATA ERROR - -

03 DATA RANGE OVER - -04 MONITOR MODE - -05 RUNNING - -06 MANUAL MODE - -41 SERVO OFF - -42 ORIGIN INCOMPLETE - -43 NO POINT DATA - -44 SOFTLIMIT OVER - -45 INTERLOCK - -46 STOP KEY - -47 PUSH MISTAKE - -48 ORG. MISTAKE - -49 SERIAL COMM. ERR. - -81 AC POWER DOWN Restart82 ENCODER ERROR Restart84 IPM ERROR Reset -85 OVERHEAT Reset -86 OVERLOAD Reset -87 OVERVOLTAGE Reset -88 LOW VOLTAGE Reset -89 POSITION ERROR Reset8E OVERCURRENT Reset -8F MOTOR CURRENT ERR. Reset -90 POLE SEARCH ERROR Reset -91 INT. COMM. ERROR Reset -92 CPU ERROR Reset -93 I/O FAULT Reset *3 -C1 EMERGENCY STOP Eliminate cause -C2 MOTOR POWER DOWN Eliminate cause -F1 ABS. BATT. LOW WARNIN - -F2 PUSH WARNING - -F4 I/O ERROR - -

*1. Indicates the alarm reset method.*2. Indicates whether or not origin position is retained when alarm occurred. ( : Not retained)*3. Power must be turned off and then back on when using CC-Link or DeviceNet.

6-2 Chapter 6 Troubleshooting Chapter 6 Troubleshooting 6-3

6.4 Alarms: Possible causes and actions

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6.4 Alarms: Possible causes and actions Message alarms ■

No. Message Meaning Possible Cause Action

02 DATA ERROR Data setting errorAttempt was made to enter data that exceeded the specified range.

Enter data within the specified range.

03 DATA RANGE OVER

Data setting range exceeded.

Written data exceeded the specified range.

Write data within the specified range.

04 MONITOR MODE

Operation or edit command was executed in Monitor mode.

Operation or data edit was executed while "Run" mode was in Monitor mode.

Change the "Run" mode to Normal mode or Debug mode.

05 RUNNING

Operation command was executed during operation.

Another operation was attempted during operation.

Stop the operation and then re-execute the command.

06 MANUAL MODE

Operation command was executed during Manual mode.

Positioning was attempted during Manual mode.

Exit the Manual mode and re-execute the command.

Operation alarms ■


41 SERVO OFF Servo is off.

Operation was attempted while the servo was off.Servo turned off during operation.

Turn the servo on.

42 ORIGIN INCOMPLETE

Origin search (return-to-origin) is incomplete.

Positioning operation was attempted while origin search was incomplete Perform an origin

search.Origin search direction (K14) or Axis polarity (K15) was changed.Parameter was transferred from PC.

43 NO POINT DATA

Point data is not registered.

Positioning operation was attempted by specifying unregistered point data.

Register the point data.Positioning operation must be performed using registered point data.

44 SOFTLIMIT OVER

Software limit was exceeded.

Positioning operation attempted to move to a point exceeding the soft limits.

Adjust the target position so that it is within the soft limits.

45 INTERLOCK Interlock was activated.

Operation was attempted while /LOCK was off. Release the

interlock and then start operation./LOCK was turned off

during operation.

46 STOP KEY Operation stop was input.

Stop command was input during operation using PC or HT1.

Resume operation.

47 PUSH MISTAKE Failed to push Push operation was judged a "failed to push" error.

Correct the problem to cancel the "failed to push" error.



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48 ORG. MISTAKEFailed to detect origin at return-to-origin

5 minutes or more elapsed after return-to-origin occurred.

Correct the environment related to the return-to-origin operation.

Origin sensor avoidance width (250mm) was exceeded with the origin sensor remaining ON (when using sensor format).Z-phase detection failed at the semi-absolute origin search.

49 SERIAL COMM. ERR.

Serial communication error occurred between controller and communication device.

Communication cable is defective.

Replace the communication cable.

Communication device failed.

Replace the communication device.

Error alarms (internal causes) ■


81 AC POWER DOWN

Drop in control power supply voltage.

Power supply voltage too low.

Check the power supply.

Momentary power outage (below 50% of specified input voltage) occurred for more than 40ms.Power supply does not have sufficient capacity.

82 ENCODER ERROR

Error occurred during data exchange with position detector.

Robot I/O cable is not securely connected.

Connect the robot I/O cable correctly.

Robot I/O cable broke or failed.

Replace the robot I/O cable.

Wrong combination of controller and robot.

Connect the correct controller to a matching robot.

Position detector failed. Replace the motor.Position detection circuit failed.

Replace the controller.

84 IPM ERRORExcessive current flow was detected.

Phases U, V and W in the motor cable are shorted.

Replace the motor cable.

Motor failed. Replace the motor.Motor drive circuit failed. Replace the controller.

85 OVERHEAT

Temperature protection level (90˚C) was exceeded.

Ambient temperature is above 40˚C.

Check the ambient condition.

Thermal sensor failed. Replace the controller.

6-4 Chapter 6 Troubleshooting Chapter 6 Troubleshooting 6-5


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86 OVERLOADOverload detection level was exceeded.

Rated current was exceeded.

Reduce the load.Set the payload correctly.Lower the duty cycle.

Robot drive system collided with some objects.

Check the operation pattern.

Electromagnetic brake is not working.

Supply the brake power correctly.Replace the brake.

Wrong robot setting Make correct robot setting.

87 OVERVOLTAGE

Overvoltage protection level (420V) was exceeded.

Main power supply voltage exceeded the specified range.


Regenerative unit is not securely connected.

Connect the regenerative unit correctly.

Regenerative unit connection cable broke or failed.

Replace the connection cable.

88 LOW VOLTAGE

Power supply voltage dropped below the low voltage detection level (180V).

Main power supply voltage does not reach the specified value.


Controller failed. Replace the controller.

89 POSITION ERROR

Position deviation overflow level was exceeded.

Robot drive unit collided with some objects.


Motor cable is not securely connected.

Connect the motor cable correctly.

Motor cable broke or failed.



8E OVERCURRENT

Current higher than the allowable current flow was detected.

Robot drive unit collided with some objects.


Phases U, V and W in the motor cable are shorted.


Motor failed. Replace the motor.

8FMOTOR CURRENT ERR.

Motor current does not follow up on command.

Motor cable is disconnected. Connect the motor cable correctly.

Motor cable broke or failed. Replace the motor cable.Motor failed. Replace the motor.


90 POLE SEARCH ERROR

Failed to estimate the magnetic pole position.

Magnetic pole position was estimated while external force was applied.

Recheck the surrounding environment where the robot is used.

91 INT. COMM. ERROR

Communication error occurred between CPU and I/O module.

CPU peripheral circuits failed.

Cancel the alarm.If the alarm occurs again, replace the controller.

92 CPU ERROR CPU stopped due to error. CPU failed.

Cancel the alarm.If the alarm occurs again, replace the controller.



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93 I/O FAULTI/O module stopped due to error.

24 V power supply is turned off by NPN/PNP.

Turn the 24V power supply back on.

I/O module failed.

Cancel the alarm (in the case of NPN/PNP, after turning the 24V power supply back on). If the alarm occurs again, replace the controller.

Error alarms (external causes) ■


C1 EMERGENCY STOP

Emergency stop was activated.

External safety circuit functioned and emergency stop was activated.

Ensure safety and then cancel the safety circuit.

Emergency stop wiring is incomplete.Wiring is wrong.

Configure the safety circuit correctly.

C2 MOTOR POWER DOWN

Drop in main power supply voltage.

External safety circuit functioned and main power supply turned off.

Ensure safety and then cancel the safety circuit.

Main power was not supplied.

Supply the main power correctly.

Warning alarms ■


F1 ABS. BATTERY LOW

Absolute battery voltage dropped below the warning level (3.1V).

Absolute battery has worn out or failed.

Replace the absolute battery.

F2 PUSH WARNING

Failed to push a workpiece.

Push operation was judged as a "failed to push" error.

Correct the problem to cancel the "failed to push" error.

F4 I/O ERRORI/O module is not operating correctly.

24V was not correctly supplied to NPN or PNP circuits.

Supply 24 V power correctly.

I/O module was not operating correctly.

Replace the controller.

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Chapter 7 Specifications

Contents

7.1 TS-P specifications 7-1


7.1.2 Dimensional outlines 7-2

7.2 I/O interface specifications 7-3

7.2.1 NPN 7-3

7.2.2 PNP 7-3

7.2.3 CC-Link 7-3

7.2.4 DeviceNet 7-4

7.3 TS-Monitor specifications 7-5


7.3.2 Dimensional outlines (TS-P with TS-Monitor) 7-5

7.4 Regenerative unit specifications 7-7

7.4.1 Dimensional outlines (RGT) 7-7

7.4.2 Dimensional outlines (RGU-2) 7-7

Chapter 7 Specifications 7-1

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7.1 TS-P specifications

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7.1.1 Basic specifications

Item100V AC input 200V AC input

TS-P105 TS-P110 TS-P205 TS-P210 TS-P220

Controllable robot PHASER series

Power capacity 400VA 600VA 400VA 600VA 1400VADimensions W58 H162 D131mm W70 H162 D131mmWeight Approx. 0.9kg Approx. 1.1kgControl power supply

Single-phase 100 to 115V AC ±10%, 50/60Hz


Main power supply



Control method Closed loop vector control methodPosition detection method Magnetic linear scale (resolution: 1μm)

Operation mode Positioning operation by specifying point numberTypes of operation Positioning, merge-positioning, push, and jog operations

Number of points 255

Point type setting1) Standard setting: Set speed and acceleration in percent of the

respective maximum settings.2) Custom setting: Set speed and acceleration in SI units.

Point teaching Manual data input (coordinate input), teaching, direct teachingI/O interface Selectable from the following: NPN, PNP, CC-Link, DeviceNet.

InputServo ON (SERVO), reset (RESET), start (START), interlock (/LOCK), origin search (ORG), manual mode (MANUAL), jog motion - (JOG-), jog motion +(JOG+), point number selection (PIN0 to PIN7)

OutputServo status (SRV-S), alarm (/ALM), operation end (END), operation in progress (BUSY),control output (OUT0 - OUT3), point number output 0 to 7 (POUT0 - POUT7)

Communication RS-232C, 1 channelPower for brake 24V DC ±10%, 300mA (prepared by user)

Safety circuit Emergency stop inputs (2 contact points), main power input ready output

Protection function

Position detection error. Power module error, overheat, overload, overvoltage, low voltage, position deviation

Ambient operating temperature and humidity

0 to 40˚C, 35 to 85% RH (no condensation)

Storage ambient temperature and humidity

-10 to 65˚C, 10 to 85% RH (no condensation)

Atmosphere Indoor, not exposed to direct sunlight. No corrosive gas, inflammable gas, oil mist, and dust particles should be present.

Vibration resistance

10 to 57Hz in each of XYZ directions, single amplitude 0.075mm, 57 to 150Hz, 9.8m/s2

Protective structure IP20

7-2 Chapter 7 Specifications


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7.1.2 Dimensional outlines

131(90)

167

58

152

φ5.4

5

5.4

4

(8)

53

162

R

(Units : mm)

TS-P (105/110/205/210)

EXT connector

131

167

(90)

162

5870

4

53

R

5.4

5

φ5.4

152

(8)

(Units : mm)

TS-P (220)

EXT connector

7-2 Chapter 7 Specifications Chapter 7 Specifications 7-3

7.2 I/O interface specifications

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7.2 I/O interface specifications7.2.1 NPN

Input 16 points, 24V DC ± 10%, 5.1mA per point, positive common

Output 16 points, 24V DC ± 10%, 50mA per point, total 0.4A or less per 8 points, sink type

7.2.2 PNPInput 16 points, 24V DC ± 10%, 5.5mA per point, negative common

Output 16 points, 24V DC ± 10%, 50mA per point, total 0.4A or less per 8 points, source type

7.2.3 CC-LinkCC-Link specifications ■

Item Description

CC-Link support version Ver. 1.10Remote station type Remote station deviceStation used 1Station No. setting 1 to 64Communication speed setting 10M / 5M / 2.5M / 625K / 156KbpsMinimum length between station 0.2m or more

Overall distance 100m (10Mbps) / 160m (5Mbps) / 400m (2.5Mbps) / 900m (625Kbps) / 1200m (156Kbps)

Monitor LED L RUN, L ERR., SD, RD

LED indicators ■

L RUN L ERR. SD RD Operation

Communication is normal, but CRC errors occasionally occur due to noise.

0.4sEither the "baud rate" or "node No." setting was changed from that which existed when the status was cleared by a reset.- (Implausible operation status)CRC error in reception data, and response is not possible.- (Implausible operation status)Normal communication- (Implausible operation status)Data destined for local station did not arrive.- (Implausible operation status)Polling response is occurring, but CRC error occurred at the refresh reception.- (Implausible operation status)CRC error in data destined for local station.- (Implausible operation status)- (Implausible operation status)- (Implausible operation status)There is no data destined for the local station, but local station reception is disabled due to noise.Data reception is disabled due to severed/disconnected line. Power is off or hardware is being installed.

, Incorrect "baud rate" or "node No." setting.: ON : OFF : Blinking


7.2 I/O interface specifications

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7.2.4 DeviceNet

DeviceNet specifications ■

Item Description

Compatible DeviceNet Specs.

Volume1 Release2.0Volume2 Release2.0

Vendor name Yamaha Motor Co.,Ltd. （ID=636）

Device type Generic Device (Device No.0)

Product code 11

Product revision 1.1

Max. network current consumption 40mA

Physical layer insulation present/absent Present

Support LED Module, Network

MAC ID setting 0 to 63

Baud rate setting 500K / 250K / 125Kbps

Communication dataPredefined Master/Slave Connection Set : Group 2 Only serverDynamic connection support (UCMM) : NoExplicit message divided transmission support : Yes

Network length

Total extension length

Branch line length

Total branch line length

500Kbps 100m 6m or less / 39m or less250Kbps 250m 6m or less / 78m or less125Kbps 500m 6m or less / 156m or less

Number of input/output points Inputs: 6CH; Outputs: 6CH

LED indicators ■

Type Indication Status Description

MS (module status)

OFF Power OFF status

Green ON Normal initializing completed

Red blinking Incorrect communication settingRed ON Hardware error

NS (network status)

OFF Power OFF status. Communication error check in progress

Green ON Normal communicationGreen blinking Establishing communication statusRed blinking Connection time-out in progressRed ON MAC ID type. Busoff error


7.3 TS-Monitor specifications

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7.3.1 Basic specificationsItem Specifications

Effective display dimensions W40.546 × H25.63mmScreen display Graphic monochrome LCDBacklight Blue and red, 2-color LCDContrast adjustment 5 stepsNumber of display dots 128 × 64 dots

Outside dimensions of controller

TS-P105/110/205/210 with TS-Monitor W58 × H162 × D137.5 mm TS-P220 with TS-Monitor W70 × H162 × D137.5 mm

7.3.2 Dimensional outlines (TS-P with TS-Monitor)

TS-P (105/110/205/210) with TS-Monitor

EXT connector

R

(Units : mm)

162

167

58

152

φ5.4

5

(83.5)(8

)53

5.4

4

137.5



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167

58

152

φ5.4

5

(83.5) 137.5

(8)EXT connector

5370

5.4

4

(Units : mm)

R


7.4 Regenerative unit specifications

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7.4 Regenerative unit specifications

7.4.1 Dimensional outlines (RGT)

RGEN

2

120 30

15

142

152

162

R2.75

(Units : mm)

φ5.5

7.4.2 Dimensional outlines (RGU-2)

P

N

RGEN

250

290

40157

265

5.516

250

(Units : mm)

MEMO


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HT1 Operation Guide

Contents

Introduction H-1

1. What the HT1 does H-2

1.1 HT1 panel layout H-3

1.2 Connecting to the external safety circuit (HT1-D) H-5

2. Connecting or disconnecting the HT1 H-7

2.1 Connecting to the controller H-7

2.2 Disconnecting from the controller H-9

3. Basic operations H-10

3.1 Operation key layout and functions H-10

3.2 Screen configuration H-11

3.3 Starting to use the keys H-13

3.4 How to enter numbers H-17

3.5 Menu structure H-18

4. Editing the point data H-19

4.1 Point teaching H-19

4.1.1 Teaching playback H-19

4.1.2 Direct teaching H-22

4.2 Copying point data H-23

4.3 Deleting point data H-24

4.4 Displaying a list of point data H-25

5. Parameter setting H-26

5.1 Setting Run parameters H-26

5.2 Setting I/O parameters H-28

5.3 Setting Option parameters H-29

5.4 Setting Servo parameters H-30

6. Operating the robot H-31

6.1 Turning the servo on or off H-31

9

HT1 Operation Guide H-1

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6.2 Origin search (return-to-origin) H-32

6.3 Operating the robot H-34

6.4 Resetting an alarm H-36

7. Monitor functions H-37

7.1 I/O monitor H-37

7.2 Status monitor H-38

7.3 Run monitor H-39

7.4 Alarm display H-40

7.5 Warning display H-41

7.6 Message display H-42

7.7 Alarm record display H-43

7.8 Information display H-44

8. Other functions H-45

8.1 Operation mode H-45

8.2 Setting mode H-46

8.2.1 Changing the display language H-46

9. Specifications H-47

9.1 Basic specifications H-47

9.2 Dimensional outlines H-47

9.2.1 HT1 H-47

9.2.2 HT1-D H-48

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Introduction


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IntroductionThis "HT1 Operation Guide" explains how to use the HT1 and HT1-D (with ENABLE switch) Handy Terminals that come with the TS series robot controller as an option. Before reading this section, read the precautions and descriptions stated in the "Controller Guide" (main part of this manual) to understand the point data and parameter data, as well as controller functions and usage.

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1. What the HT1 does

H-2 HT1 Operation Guide

9


1. What the HT1 doesThe HT1 Handy Terminal is provided as an option for the TS series controller. When connected to the controller, the HT1 allows you to perform the following operations and checks.

HT1 tasks With the HT1 you can: Refer to:

Point data editing

Data editingSet point data including "Run type", Position", "Speed", "Push" and other information.

3.3

TeachingMove the robot to a position and teach that position to store it in point data.

4.1

Copy and deletion Copy or delete point data you created.4.2 to

4.3

List displayDisplay a list of point data in the point data number sequence.

4.4

Parameter setting

Run parametersSet parameters needed for robot operation such as positioning and origin search.

5.1

I/O parametersSet parameters for terminal pin assignments and I/O functions.

5.2

Option parametersSet parameters for options such as CC-Link.

5.3

Servo parameters Set parameters such as payload, etc. 5.4

Robot operation

Servo status Turn the servo on or off. 6.1

Origin search Return the robot to its origin position. 6.2

PositioningMove the robot to position it at a specified point.

6.3

JogMove the robot in jog mode or inching mode with the Jog keys.

4.1

Display function

I/O monitorDisplay I/O signal status to or from host device.

7.1

Status monitorDisplay internal status such as servo, brake and emergency stop status.

7.2

Run monitorDisplay information such as current position and speed during operation.

7.3

Alarm and warningDisplay recent alarms and warnings that have occurred. A past alarm history can also be displayed.

7.4 to 7.7

Other informationDisplay the model numbers and specs of the controller and robot being used.

7.8

Safety functions

Emergency stopImmediately stop the robot movement if needed in case of emergency.

1.2

Others

Operation mode setup

Set the operation mode. 8.1

Setting mode Select the LCD display language (English/Japanese). 8.2


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1.1 HT1 panel layoutThe HT1 consists of a LCD screen, data edit keys, run/stop keys, and emergency stop button as shown below.

FUNCCLR

RUN STOP

HT1 panel layout

• LCD screenThis is a liquid crystal display (LCD) screen with 32 characters × 10 lines (pixel display), showing the operation menus and various types of information.

• Emergency stop buttonPressing this button during operation immediately stops robot movement. To release this button, turn it clockwise. Releasing this button also cancels emergency stop.

• Strap holderAttaching a short strap or necklace strap here prevents dropping the HT1 while operating it or installing it onto equipment.

• Run/stop keysUse these keys to operate the robot for teaching or positioning, or to stop operation. The and # keys are also provided to move the robot in jog mode. (Refer to section 3, "Basic operations" for more details.)

• Connection cableThis cable connects to the controller. One end of this cable is terminated with an 8-pin MD connector (male). Plug this cable into the COM1 connector on the controller front panel.

• Data edit keysUse these keys to select menus and edit various data.(Refer to section 3, "Basic operations" for more details.)

WARNING

· Do not push or strike the LCD screen surface with a pointed tool or hard object. This might scratch or damage the LCD screen.

· The fluid (liquid crystal) in the LCD display is a hazardous substance. If this fluid leaks from the display due to damage and adheres to skin or clothes, wash it off immediately with soap and water. Then consult a physician.

· Do not wind the connection cable around the HT1 body when storing, and do not bend it sharply. Doing so might break the wires in the connection cable.

··

Do not use an extension cord with the connection cable.Never disassemble or modify any part of the HT1. Doing so will cause failures or malfunctions.

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Rear view (HT1-D)

• ENABLE switch (HT1-D only)This switch is used along with an external safety circuit. This switch turns off (opens) the circuit when pressed or released. Pressing this switch to mid-position enables the circuit.

• Safety connector (HT1-D only)Use this connector along with the emergency stop or ENABLE switch to configure an external safety circuit. (Refer to section 1.2, "Connecting to the external safety circuit (HT1-D)" for more details.


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1.2 Connecting to the external safety circuit (HT1-D)Using the safety connector on the HT1-D allows configuring an external safety circuit with the HT1-D emergency stop button or ENABLE switch.

HT1-D wiring diagram ■

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2

3

4

5

6

7

8••

14

15

96

96

1

2

3

4

5

6

7

8••

14

15

External safety circuit (provided by customer)

HT1-D

HT1-D cable

ENABLE switch (deadman switch)

15-pin D-sub connector (female)(If not using the HT1-D then connect the supplied 15-pin D-sub connector (male) to this connector.)

Safety connector

The shorting wire between pins 14 and 15 must be shorter than 60mm.

EXT connectorI/O connector

Controller

COM1 connector

Emergency stop button

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• 15-pin D-sub connectors (supplied only with HT1-D)Use these connectors with the emergency stop or ENABLE switch to configure an external safety circuit.

15-pin D-sub connector (female: KS9-M532A-000)

Pin No.

12･･･････

1415

Attaching this connector directly to the safety connector on the HT1-D enables the emergency stop button only.

15-pin D-sub connector (male: KS9-M532E-001)

Pin No.

1234･････

15

If not using the HT1-D then attach this connector directly to the 15-pin D-sub connector on the external safety circuit so that the emergency stop circuit is shorted.

CAUTION

Set so the voltage and current ratings on the circuit connected to pins 1 to 8 on the supplied 15-pin D-sub connector are no higher than 30V DC and 1A.Pins 1 and 14, and pins 2 and 15 on the supplied 15-pin D-sub connector are shorted prior to shipment. When connecting the HT1-D contacts to the external emergency stop circuit, change the wiring as shown in the above diagram to short pins 14 and 15 together.Never attempt to extend the shorting wire between pins 14 and 15. Doing so might cause noise in the wiring that interferes with HT1-D or controller operation and causes faulty operation. This wiring should be kept short.


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2. Connecting or disconnecting the HT1

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2. Connecting or disconnecting the HT1The HT1 can be connected or disconnected from the controller as needed regardless of whether controller power is on or off.

CAUTION

· Do not modify the HT1 cable. Modified cables might cause communication errors or malfunctions.

· When connecting the HT1 to the controller or disconnecting it from the controller, always grip it by the connector body itself.

· A poor connection or inserting the connector the wrong way can result in failure or malfunctions. Be sure that the cable is securely connected.

· When unplugging the connector from the controller, pull it straight out so as not to bend the connector pins.

2.1 Connecting to the controller

1 Connect the HT1 cable to the COM1 connector on the controller front

panel.

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

FUNCCLR

RUN STOP

Connection

HT1

Controller

Align the arrow mark on the HT1 cable connector with the rectangular mark of the COM1 connector (left of the connector as viewed from the front) and insert the HT1 cable connector straight into the COM1.

Grip the connector body and insert it into the COM1.

Communication connector (COM1)

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2 Turn on the power to the controller.The initial screen (version display) appears for about 2 seconds and then the MENU (main menu) screen appears.

(The same as when the HT1 is connected to the controller with the power turned on.)

Handy TerminalV1.01

Connecting...

Menu Point OperationParameterMonitorRun modeConnectionTerminal

Initial screen and main menu screen

Initial screen Main menu screen

NRM [01]


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2.2 Disconnecting from the controllerThe HT1 can be disconnected from the controller, regardless of whether the controller power is on or off. Pull the HT1 cable connector straight outwards from the COM1 connector on the controller.

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

Disconnection

Controller

Grip the connector body and pull it out.

CAUTION

Disconnecting the HT1 while the controller power is on, will trigger emergency stop and the robot servo will turn off.

• When not using the HT1When not using the HT1, plug the dummy connector (supplied with the controller) into the COM1 connector.

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

Dummy connector for COM1

Controller

Dummy connector

CAUTION

When not using the HT1, always attach the dummy connector to the COM1. Operating without the dummy connector attached will trigger emergency stop and operation cannot be performed.

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3. Basic operations


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3. Basic operationsThe HT1 operation keys are only a minimum number of necessary keys, so HT1 operating procedures can easily be mastered even by first-time users. The HT1 operation keys are divided into two groups: data edit keys and run/stop keys.

3.1 Operation key layout and functionsOperation key layout

FUNCCLR

RUN STOP

Run/stop keys

Data edit keys

Data edit keysKeys Use the key to:

CLR Return to the preceding menu or screen. FUNC Display the "Function" menu window for the item being selected.

Scroll up or down the screen or increment/decrement numbers.

Move the cursor to a desired digit to enter a numerical value or switch the page in the menu area.

Enable the entry you selected or changes you made.

NOTE

The HT1 has no number keys. Use and to enter (increment or decrement) numbers. (Refer to section 3.4, "How to enter numbers".)

Run/stop keys

Keys Use the key to:

RUNStart moving the robot to perform origin search (return-to-origin) or positioning.Obtain the current position and store it in specified point data. (teaching)Turn the servo on or off.

STOP Stop moving the robot during operation such as origin search or positioning. Press RUN to resume operation.

Move the robot in the - (minus) direction during teaching. The robot moves as long as this key is pressed. Pressing this key once moves the robot in inching mode (initial setting: 1.000mm).Move the robot in the + (plus) direction during teaching. The robot moves as long as this key is pressed. Pressing this key once moves the robot in inching mode (initial setting: 1.000mm).


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3. Basic operations


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3.2 Screen configuration

• Main menu screenOn the main menu screen, the title "MENU" is displayed in the status area at the top of the screen.Selectable menus are displayed in the menu area. Nothing is displayed in the comment area at the bottom of the screen.

To select a menu, use or to move the cursor to it, and press .

Operations can be selected and settings can be made while selecting the menus displayed on the screen. (Refer to section 3.5, "Menu structure".)

PointOperationParameterMonitorRun modeConnectionTerminal

Menu

Main menu screen

NRM [01] Status area

Comment area

Menu area

Menu Select the menu to:

Point Perform point teaching or edit point data.

OperationTurn the servo on or off, or return the robot to its origin, or perform operation.

Parameter Edit parameters relating to operation and I/O settings.

Monitor Display I/O status, operation status, alarm history, etc.

Run mode Switch between Normal mode, Monitor mode, and Debug mode.

Connection This is not currently used.

TerminalMake adjustments (factory adjustments). This menu is usually grayed out and not available to users.

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3. Basic operations


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• Screen display exampleEach screen consists of a status area, menu area, and comment area.The display contents differ depending on the selected menu.

In the screen display shown below, a point number and point data are displayed in the menu area. In this example, the comment area shows the operation keys that can be used and the current robot position.

P 11. Run type2. Position3. Speed4. Accel.5. Decel.6. Push

ABS100.000

100100100100

- mm % % % %

RUN:Teaching, -/+:JOGCurrent pos. 128.000 mm

Point teaching S=100%

Screen display example ("Point teaching" screen)

NRM [01] Status area

Comment area

Menu area

• "Run mode" displayThe currently selected "Run mode" is displayed as an abbreviation on the right of the status area. The meaning of each abbreviation is described below.


ABS100.000

100100100100

- mm % % % %



"Run mode" display

NRM [01] "Run mode" display

Abbreviation Run mode

NRM Normal modeMON Monitor modeDBG Debug modeNRM S Normal mode (safety)MON S Monitor mode (safety)DBG S Debug mode (safety)

TIP

"Run mode" can be changed from the HT1. Refer to section 8.1, "Operation mode" for more details.


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3. Basic operations


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3.3 Starting to use the keysYou can operate the HT1 while selecting the displayed menus (Refer to section 3.5, "Menu structure"). The following steps explain a basic HT1 key operation, showing the procedure for setting point data.

CAUTION

Before editing data, always make sure that the robot is stopped. Editing data while the robot is moving may cause problems with the operation.

• Editing point data

1 On the main menu screen, move the cursor to "Point" and press .The "Point" menu screen appears as shown below. (To return to the main menu

screen, press CLR .)

Point editPoint teaching

Point

"Point" menu screen

NRM [01]

"Point" menu

2 Move the cursor to "Point edit" and press .The "Point edit" screen opens showing a point number and point data.

The cursor is placed in the point number row where "P1" is selected when this screen first opens.

In this state, pressing displays the second page of point data in the menu area.

Pressing returns to the previous page.

P 11. Run type2. Position3. Speedﾞ4. Accel.5. Decel.6. Push

ABS100.000

100100100100

- mm % % % %

Point editP 11. ｳﾝﾃﾝﾀｲﾌﾟ2. ｲﾁ3. ｿｸﾄﾞ4. ｶｿｸﾄﾞ5. ｹﾞﾝｿｸﾄﾞ6. ｵｼﾂｹ

- mm % % % %

ﾎﾟｲﾝﾄﾍﾝｼｭｳ

"Point edit" screen

NRM [01] NRM [01]Point number row

Page 1

Displays point data items

Page 2

mm mm mm - - -

P　　17. Zone(-)8. Zone(+)9. Near width10.Jump11.Flag12.Call

0.0000.0001.000

000

Point edit NRM [01]

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3. Basic operations


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3 Select the point number you want to edit.There are 2 methods for selecting a point number.

1) Increment or decrement the point number

Pressing or will increment or decrement the point number. When "P1" is displayed, pressing changes it to "P255". When "P255" is displayed, pressing changes it to "P1".

2) Press FUNC to open the "Function" menu and select the point number.1. On the "Function" menu, select "Select number".

The "Function" menu changes to the screen for selecting a point number. The point number that first appears is the number that was selected when the "Function" menu was opened.

2. Press or to move the edit cursor to the point number digit you want to enter, and increment or decrement the number using or .

3. After entering the number, press . The cursor moves to "Yes".

4. Press to enable the setting. The number you entered is then displayed in the point number row.

- mm % % % %

P 11. Run typ2. Position3. Speed4. Accel.5. Decel.6. Push

ABS100.00

100100100100

Point edit

- mm % % % %

P 11. Run typeｲﾌﾟ2. Position3. Speed4. Accel5. Decel.6. Push

ABS100.00

100100100100

Point edit

"Function" menu window

FunctionSelect numberCopyDelete thisDelete allPoint list

Select numberP 2

select OK?

YesNo

NRM [01] NRM [01]

TIP

· The point number can also be selected from the point number list that appears when you select "Point list" from the "Function" menu. (Refer to section 4.4, "Displaying a list of point data".)

· For instructions on how to enter numbers such as point numbers, refer to section 3.4, "How to enter numbers".

4 After selecting the point number, press .The cursor moves to the data item area, allowing you to select a data item for the selected point number.


ABS100.000

100100100100

- mm % % % %

Point edit

Data edit screen

NRM [01]Point number rowCursor moves to the data item area ("1. Run type").

TIP

When the "Point table type" parameter was set to "Standard setting" by initial processing using the support software "TS-Manager", then "Speed" and "Accel." are displayed in percent (%).When the "Point table type" parameter was set to "Custom setting", then "Speed" and "Accel." are displayed in SI unit systems (mm/s and m/s2).


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5 Use to move the cursor up or down to highlight the data item you

want to edit.When the cursor is on the bottom row of the screen, pressing scrolls to the next

page.

6 After selecting the data item, press .This allows you to edit the selected data item. Data you can edit now appears left-aligned as shown below.


ABS100.000

100100100100

- mm % % % %

ABSINC

Point edit

When "Run type" is selected

NRM [01]

Data for the selected item is left-aligned, showing it can be edited.

Selectable options for "Run type" are displayed here. If there are 3 or more options, press or to view them.

ABS100.000

100100100100

- mm % % % %

FUNC.:change the sign

Point edit

When "Position" is selected


NRM [01]

Data for the selected item is left-aligned, showing it can be edited.

Pressing toggles the plus and minus signs for the numerical value.

FUNC

TIP

· If "Run type" is not selected, then other data items are grayed out and cannot be edited. When "Run type" is set for point data whose data is not defined, then the initial values will be defined.

· For detailed information on each point data item, refer to the "Controller Guide", Chapter 3, section 3.2, "Point data".

7 Set the selected data item.There are 2 setting methods depending on the selected item: selective method and direct entry method.

• In the selective method like "Run type", the selectable options are displayed in

the comment area. Use or to select the desired option and press .• In the direct entry method for data items like "Position", the edit cursor appears

at the rightmost digit of the numerical value. Set the numerical value by

incrementing or decrementing it with or . To enter another digit, use or

to move the cursor to that digit and press or to set the numerical value.

After entering each digit, press to enable the setting. (Refer to section 3.4,

"How to enter numbers".

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8 Set the other point data items.Follow steps 5 to 7 to set the necessary data items.

NOTERepeat steps 3 to 7 when setting data items for other point numbers.

9 After editing the data, press CLR .The cursor returns to the point number row. Pressing CLR returns to the "Point" menu

screen in step 1.


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3.4 How to enter numbersThe HT1 has no number keys. Use and to enter numbers.(1) When in number edit mode, the edit cursor appears at the rightmost digit of the number.

2 . 3 4 5

(2) To change the number at the specified digit (cursor position), press or . Pressing increments the number, and pressing decrements the number.

2 . 4 6

2 . 4 4

3

3

(3) To move the edit cursor to other digits, press or . (If the number contains a decimal point, skip it.)

2 . 4 63

(4) To enter a number at a digit where no number is entered, first move the edit cursor to that digit.

2 . 4 63

(5) Pressing or causes "0" to appear. Then press or to set the number.

0 2 . 4 63

(6) To change the plus/minus signs, press FUNC . Pressing FUNC toggles the plus (+) and minus (-) signs.

1 2 . 4 6- -+3 FUNC

(7) After entering the number, press to enable the setting.

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3.5 Menu structure

Initial screen

Main menu

Connection

Point

Parameter

Monitor

Operation

1. Run type

2. Position

3. Speed

4. Accel.

6. Push

Run parameter

I/O parameter

Servo parameter

Copy

Delete this

I/O monitor

Status monitor

Select number

Servo status

Origin search

Run

Message

Alarm records

*Not currently used.

Reset

Delete all

P1 to P255

Edit

CC-Link

(During reaching)

Speed Edit

Setting

Run monitor

Information

Delete this

5. Decel.

Option parameter

Teaching

(During editing)

Select number

Speed Edit

Select number

*Not displayed unless relevant options are installed.

7. Zone (-)

8. Zone (+)

10. Jump

11. Flag

12. Timer

9. Near width

Point list

Point list

Run mode Normal mode

Monitor mode

Debug mode

Point list

Alarm

Warning

Editing

Operation

Read only

MenuPointOperationParameterMonitorRun modeConnectionTerminal






Handy TerminalV1.01

Connecting...


NRM [01]

NRM [01]

NRM [01]

NRM [01]

NRM [01]

NRM [01]

NRM [01]

FUNCCLR

RUN STOP

FUNCCLR

RUN STOP

FUNC

* Start the controller while

holding down .

* To change mode, start the controller while holding down .

CLR

(when "Alarm records" screen is opened)FUNC

(when "Operation" screen is opened)FUNC

FUNC

FUNC CLR

DeviceNet


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4. Editing the point data


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4. Editing the point dataThe procedure for editing point data is described in the previous section 3.3, "Starting to use the keys", so please read it again. This section describes how to set the position for point data using point teaching, as well as how to copy or delete the point data you created.

CAUTION

Before editing data, always make sure that the robot is stopped. Editing data while the robot is moving might cause problems with operation.

4.1 Point teachingThere are two methods for point teaching: teaching playback and direct teaching.

NOTE

In either point teaching method, origin search (return-to-origin) must first be completed. (For instructions on how to perform an origin search using the HT1, refer to section 6.2, "Origin search (return-to-origin".)

Point teaching Description

Teaching playback This method moves the robot in manual operation to a desired position and obtains that position as point data.

Direct teaching This is basically the same as teaching playback, except that you move the robot by hand in an emergency stop state.

4.1.1 Teaching playbackIn teaching playback, you move the robot in manual operation to a desired position and obtain that position as a "Position" for point data. Follow these steps to perform teaching playback.

WARNINGThe robot will now move, so use caution.

1 On the main menu screen, select "Point".The "Point" menu screen appears.

2 Move the cursor to "Point teaching" and press .The "Point teaching screen appears. The status area shows the speed (like "S=100%") at which the robot will move during teaching. The menu area shows point data items. The comment area shows the valid key functions and the current robot position.


PointP 11. Run type2. Position3. Speed4. Accel.5. Decel.6. Push

ABS100.000

100100100100

- mm % % % %


Point teaching S=100% NRM [01]NRM [01]

TIP

The displayed data items are the same as those shown on the "Point edit" screen, but cannot be changed here.

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3 Select the point number to perform teaching.To select the point number, use the same procedure as for point data editing. (Press

or to select the point number, or press FUNC to select it from the "Function" menu.)

4 Specify the speed to move the robot.Specify the speed as described below, on the "Function" menu that appears when

you press FUNC .

1. Select "Change speed" and press .

The edit cursor then appears on the speed value.

- mm % % % %


P 11. Run2. Position3. Speed4. Accel.5. Decel.6. Push

ABS100.00

100100100100

Point teaching S=100% [01]

FunctionSelect numberChange speedPoint list

- mm % % % %


P 11. Run typeﾟ2. Position3. Speed4. Accel.5. Dece6. Push

ABS100.00

100100100100


Change speedSpeed

S = 100 %Change OK?

YesNo

2. Set the speed and press .

To set the speed, use the same procedure as for setting a point number. The cursor then moves to "Yes" under the "Change OK?" message.

3. Press to enable the setting.

The speed you set is then displayed as "S=** %" in the status area.

- mm % % % %


P 11. Run2. Positi3. Speed4. Accel.5. Decel.6. Push

ABS100.00

100100100100


Change speedSpeed

S = 80 %Change OK?

YesNo

NRM [01]

5 Press the jog keys to move the robot to the teaching position.Pressing the or key moves the robot in the direction of the sign. The robot

keeps moving as long as the jog key is pressed and the message "Running…" will appear during movement.

TIP

Pressing the jog key once moves the robot in inching mode. (Initial setting is 1.000mm, which can be changed as needed by using the "Inching width" (K11) parameter.

- mm % % % %


P 11. Run2. Position3. Speed4. Accel.5. Decel6. Push

ABS100.00

100100100100


Jog

Running…

NRM [01]


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6 When the robot reaches the teaching position, release the jog key to

stop the robot.The message "Running…" no longer appears when the robot is stopped.

7 Press RUN to teach the position.A confirmation message then appears asking whether to teach the current position.

Press or to select "Yes" or "No", and then press .

Selecting "Yes" sets the current robot position in "Position" for point data. Selecting "No" cancels the current position setting and returns to the previous screen.

- mm % % % %



ABS100.00

100100100100


TeachingTeachCurrent Pos.?

YesNo

- mm % % % %



ABS128.000

100100100100


Current robot position is entered here.

NRM [01] NRM [01]

8 Perform teaching for other point data.Specify the desired point number and repeat the above procedure.

9 After teaching the positions, press CLR .This returns to the "Point" menu screen.

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4.1.2 Direct teachingDirect teaching is basically the same as teaching playback, except that you move the robot by hand to a desired position in emergency stop.

1 Open the "Point teaching" screen and select the point number.Follow the instructions described in steps 1 to 3 in section 4.1.1, "Teaching playback".

2 Press the emergency stop button.

3 Move the robot by hand to the target position.

WARNINGDo not turn on the servo during direct teaching.

4 Press RUN to teach the position.A confirmation message then appears asking whether to teach the current position.

Press or to select "Yes" or "No", and then press .

Selecting "Yes" sets the current robot position in "Position" for point data. Selecting "No" cancels the current position setting and returns to the previous screen.

- mm % % % %

Teaching, -/+:JOGCurrent pos. 128.000 mm


ABS100.00

100100100100


TeachingTeachCurrent Pos.?

YesNo

- mm % % % %



ABS128.000

100100100100


Current robot position is entered here.

NRM [01] NRM [01]

5 Perform teaching for other point data.Specify the desired point number and repeat the above procedure.

6 After teaching the positions, press CLR .This returns to the "Point" menu screen.


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4.2 Copying point dataThis section describes how to copy created point data to another point data number.


2 Move the cursor to "Point teaching" and press .The "Point teaching" screen appears, showing the point data items in the menu area.


Point P 11. Run type2. Position3. Speed4. Accel.5. Decel.6. Push

ABS100.000

100100100100

- mm % % % %

Point edit NRM [01] NRM [01]

3 Press FUNC to open the "Function" menu and select "Copy".The "Function" menu changes to the window for specifying the copy source and destination.

The point number that is first displayed as the copy source is the point number that was selected when the "Function" menu was opened.

- mm % % % %


ABS100.00

100100100100

Point edit


- mm % % % %


ABS100.00

100100100100

Point edit

CopyFrom P 1To P 2

Copy OK?YesNo

NRM [01] NRM [01]

4 Specify the copy source and destination point numbers.1. Use and to specify the copy source point number, and press .

The cursor then moves to the copy destination item.2. Use and で to specify the copy destination point number, and press .

The cursor then moves to "Yes" under the confirmation message.

3. Press to copy the data. The display then returns to the screen that was displayed before the "Function" menu was opened. (The copy source point number is displayed.)

- mm % % % %


ABS100.00

100100100100

Point edit

CopyFrom P 1To P 9

Copy OK?YesNo

NRM [01]

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4.3 Deleting point dataThis section describes how to delete created point data.

CAUTIONDeleted data cannot be restored, so be careful.


2 Move the cursor to "Point teaching" and press .The "Point teaching" screen appears, showing the point data items in the menu area.



ABS100.000

100100100100

- mm % % % %


3 Select the point number you want to delete.To select the point number, use the same procedure as for point data editing.

(Press or to select the point number, or press FUNC to select it from the

"Function" menu.)

- mm % % % %

P 91. Run typeﾌﾟ2. Position3. Speed4. Accel.5. Decel.6. Push

ABS100.00

100100100100

Point edit


- mm % % % %

P 11. Run typeﾌ2. Position3. Speed4. Accel.5. Decel.6. Push

ABS100.00

100100100100

Point edit

Delete thisDelete this?

YesNo

NRM [01] NRM [01]

4 Press FUNC to open the "Function" menu and select "Delete".A confirmation message appears asking whether to delete data of the selected point number. If you select "Delete all", another confirmation message will appear asking whether to delete all point data.

5 If it is okay to delete the data, move the cursor to "Yes" and press .The data of the selected point number is then deleted.

If you selected "Delete all", all point data will be deleted.

The display then returns to the screen that was displayed before the "Function" menu opened.


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4.4 Displaying a list of point dataYou can display a list of point data. You can also make entries on the data edit screen by selecting a point number from the displayed list.


2 Move the cursor to "Point edit" and press .The "Point edit" screen opens showing the point data items in the menu area.



ABS100.000

100100100100

- mm % % % %


3 Press FUNC to display the "Function" menu and select "Point list".Point data appears in the order of point number, showing "Run type" and "Position" data.

In this list, pressing or moves the cursor up or down, and pressing or

switches the page.

- mm % % % %


ABS100.00

100100100100

Point edit


- mm % % % %


ABS100.000

100100100100

Point edit

Pos.(mm) 0.000 520.000 600.000

20.000

No.P 1P 2P 3P 4P 5P 6P 7P 8

Run type ABS

ABSmerge ABSpush

INC

Point list NRM [01] NRM [01]

NRM [01]

While a point number is selected, pressing enters the data edit screen for the

selected point number.

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5. Parameter setting


9


5. Parameter settingThe HT1 allows you to set parameters needed for robot operation.For detailed information and the setting range of each parameter, refer to the "Controller Guide", Chapter 3, section 3.4, "Parameter data".

CAUTION

Before editing data, always make sure that the robot is stopped. Editing data while the robot is moving might cause problems with operation.

5.1 Setting Run parametersThis section describes how to set a Run parameter using "Soft limit (+)" as an example.

NOTEPower must be turned off and then back on to enable changes made to Run parameters.

1 On the main menu screen, select "Parameter".The "Parameter" menu screen opens showing selectable parameter groups.

2 Move the cursor to "Run parameter" and press .The currently set Run parameters are displayed.

Pressing or switches the parameter display page. When the cursor is on the

bottom row of the screen, pressing scrolls to the next page.

Run parameterI/O parameterOption parameterServo parameter

Parameter

Soft limit(-)Soft limit(+)In-positionPush modePush timePush speedZone(-)

0.000150.000 0.010 0 10 10.00 0.000

mm mm mm - ms mm/s mm

Run parameterNRM [01] NRM [01]

3 Move the cursor to the parameter you want to change and press .The value of the selected parameter can now be changed.

Soft limit(-)Soft limit(+)In-positionPush modePush timePush speedZone(-)

0.000150.000 0.010 0 10 10.00 0.000


Run parameterSoft limit(-)Soft limit(+)In-positionPush modePush timePush speedZone(-)

0.000150.000 0.010 0 10 10.00 0.000


[01] NRM [01]


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4 Change the parameter value.For instructions on how to change numerical values, refer to section 3.4, "How to enter numbers".

5 Press to enable the change.The cursor returns to the previous state. If you want to set another Run parameter, repeat steps 3 to 5.

6 Press CLR .This returns to the "Parameter" menu screen.

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5.2 Setting I/O parametersThis section describes how to set an I/O parameter using "OUT0 select" (terminal assignment) as an example.

NOTEPower must be turned off and then back on to enable changes made to I/O parameters.


2 Move the cursor to "I/O parameter" and press .The currently set I/O parameters are displayed.

Pressing or switches the parameter display page. When the cursor is on the

bottom row of the screen, pressing scrolls to the next page.


ParameterOUTO selectOUT1 selectOUT2 selectOUT3 selectPOUT selectAlarm No.outputSERVO seguence

ZONE NEAR

TLM-S ORG-S AFTER

INVALID EDGE

-------

I/O parameter [01]NRM [01]

3 Move the cursor to the parameter you want to change and press .The selected parameter can now be changed.

OUTO selectOUT1 selectOUT2 selectOUT3 selectPOUT selectAlarm No.outputSERVO seguence

ZONE NEAR

TLM-S ORG-S AFTER

INVALID EDGE

-------

I/O parameter [01]OUTO selectOUT1 selectOUT2 selectOUT3 selectPOUT selectAlarm No.outputSERVO seguence

ZONE NEAR

TLM-S ORG-S AFTER

INVALID EDGE

-------

NONEPZONE

I/O parameter [01]

4 Change the parameter.Selectable options are displayed in the comment area. Use or to select the

desired option and press .

To change another I/O parameter, repeat steps 3 to 4.



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5.3 Setting Option parametersThe following example shows the option parameters setting method when using CC-Link. The same setting method is used for DeviceNet.

NOTEPower must be turned off and then back on to enable changes made to Option parameters.


2 Move the cursor to "Option parameter" and press .The currently set Option parameters are displayed. The display contents differ depending on the installed option.


Parameter

CC-LinkNodeSpeed

INVALID1

10M

- - bps

Option parameterNRM [01] NRM [01]

3 Move the cursor to "CC-Link" and press .The CC-Link settings can now be changed.

CC-LinkNodeSpeed

INVALID 1

10M

- - bps

VALIDINVALID

Option parameter NRM [01]

4 Change the parameter.Selectable options are displayed in the comment area. Use or to select

"Valid" and press .

Change the node number and speed as needed.


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5.4 Setting Servo parametersThis section describes how to set a Servo parameter using "Payload" as an example.


2 Move the cursor to "Servo parameter" and press .The currently set Servo parameters are displayed.


ParameterPayload 1Max. accel. 1Payload 2Max. accel. 2Stop modeStop mode timeStop current

103.50

103.50

CLOSED20030

Kg m/s2

Kg m/s2

–ms%

Servo parameterNRM [01] NRM [01]

NOTEThe "Max. accel." parameter is enabled only when the HT1 was started while holding down CLR .

3 Move the cursor to "Payload 1" and press .The selected parameter can now be changed.

Payload 1Max. accel. 1Payload 2Max. accel. 2Stop modeStop mode timeStop current

10 3.50

103.50

CLOSED20030

Kg m/s2

Kg m/s2

–ms%

Servo parameter NRM [01]

4 Change the parameter value.For instructions on how to change numerical values, refer to section 3.4, "How to enter numbers".

5 Press to enable the change.Use the same procedure to change "Payload 2" if needed.



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6. Operating the robot


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6.1 Turning the servo on or offThis section describes how to check the servo status or how to turn the servo on or off. If the robot has a brake, the brake can also be engaged or released.

1 On the main menu screen, select "Operation"The "Operation" menu screen appears showing selectable menu items.

2 Move the cursor to "Servo status" and press .The servo on/off status is displayed. The brake status is also displayed if the robot has a brake.

Servo status Origin search Run Reset

Current pos. 128.000 mm

Operation

Servo Brake

ON FREE

RUN:change the statusCurrent pos. 128.000 mm

Servo statusNRM [01] NRM [01]

3 Press RUN to turn the servo on or off.The servo turns on and off each time you press RUN .

NOTEThe brake can be operated only when the servo is off.

4 Press CLR .This returns to the "Operation" screen.

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6.2 Origin search (return-to-origin)To find the robot origin position, use the following procedure after making sure that the servo is on.

NOTEOrigin search cannot be performed unless the servo is on.


1 On the main menu screen, select "Operation".The "Operation" menu screen appears showing selectable menu items.

2 Move the cursor to "Origin Search" and press .The "Origin Search" screen appears showing the origin search method and direction.

NRM [01] Servo status Origin search Run Reset


Operation

Method: TORQUEDirection: CCWCoordinates:Normal

RUN:Origin search startCurrent pos. 128.000 mm

Origin search NRM [01]

3 Ensure safety and press RUN to start an origin search.The message "Running…" appears during origin search.

If you want to stop the origin search, press STOP .

Method: TORQUEDirection: CCWCoordinates:--



Origin search

Running…

4 When origin search is complete, check the message.The message "OK" and machine reference (Ref. = ** %) appear when the origin search has ended successfully.

Method: TORQUEDirection: CCWCoordinates:



Origin search

OKRef. = 50 %


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NOTE

The machine reference must be adjusted if it is outside an allowable range of 25% to 75% (allowable range may differ depending on the robot type, so refer to the robot user's manual).For information on how to adjust the machine reference, contact our sales office or representative.

5 Press CLR .This returns to the "Origin Search" screen. Pressing CLR once more returns to the

"Operation" menu screen.

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6.3 Operating the robotThis section describes how to position the robot using the HT1.


1 On the main menu screen, select "Operation".The "Operation" menu screen appears showing selectable menu items.

2 Move the cursor to "Run" and press .The "Run" screen opens showing a point number and point data items. "S=**%" in the status area indicates a speed override for positioning operation. (Refer to the "Controller Guide", Chapter 3, section 3.4, "Parameter data".)



Operation


ABS185.000

100100100100

- mm % % % %

RUN:positioning startCurrent pos. 128.000 mm

Run S=100%NRM [01] NRM [01]

TIP

The displayed data items are the same as those shown on the "Point edit" screen, but cannot be edited here.

3 Specify the point number.To specify the point number, use the same procedure as for point data editing.

(Press or to specify the point number, or press FUNC to select it from the

"Function" menu.)


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4 Specify the speed.If you want to change the speed, press FUNC to open the "Function" menu and specify the speed as follows:1. Select "Change speed" and press .

The edit cursor then appears at the speed value.

- mm % % % %


P 11. Run2. Position3. Spee4. Accel.5. Decel.6. Push

ABS100.00

100100100100


FunctionSelect numberChange speedPoint list

- mm % % % %


P 11. Run2. Position3. Spee4. Accel.5. Decel.6. Push

ABS100.00

100100100100


Change speedSpeed

S = 100 %Change OK?

YesNo

2. Specify the speed and press . To specify the speed, use the same procedure as for setting a point number. The cursor then moves to "Yes" under the "Change OK?" message.

3. Press to enable the setting. The speed you specified is then displayed as "S=** %" in the status area.

- mm % % % %


P 11. Run type2. Positio3. Speed4. Accel.5. Decel.6. Push

ABS100.00

100100100100

Run S=100%

Change SpeedSpeed

S = 80 %Change OK?

YesNo

NRM [01]

5 Press RUN to start operation.The robot starts moving to the position specified by the point data. The message "Running…" appears during operation.

If you want to stop the operation, press STOP .

- mm % % % %



ABS100.00

100100100100

Run S=80%

Run

Running…

NRM [01]

NOTEThe robot slows down and stops after pressing STOP .

6 To operate the robot using another point data, repeat steps 3 to 5.

7 When operation is complete, press CLR .This returns to the "Operation" menu screen.

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6.4 Resetting an alarmIf an alarm occurs during operation, the robot will immediately stop. After removing the cause of the alarm, the operation can be resumed by reset.

1 On the "Operation" menu screen, move the cursor to "Reset" and press .The "Reset" screen opens showing a description of that alarm.



Operation

Alarm:85 OVER LOAD

RUN：Execute ResetCurrent pos. 128.000 mm

Reset [01]NRM [01]

2 Remove the cause of the alarm.

3 Press RUN to perform a reset.The message "OK" appears when reset is complete.

Alarm:85 OVER LOAD

RUN：Execute ResetCurrent pos. 128.000 mm

Reset [01]

Reset

OK

4 Press CLR .This returns to the "Operation" menu screen.

CAUTION

Some alarms cannot be reset here. (Refer to the "Controller Guide", Chapter 6, section 6.4, "Alarms: Possible causes and actions".) In such cases, shut down the control power supply and then restart the controller.

WARNING

The robot stops if an overload occurs. If this happens, avoid restarting the robot operation shortly after the overload. Doing so might cause the motor malfunctions. The system should be designed so that robot operation resumes at least 5 minutes after an overload alarm occurs.


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7. Monitor functions


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7. Monitor functionsThe HT1 has the following monitor functions that display various types of information for checking operation and status.

Monitor Function Description

I/O monitor Displays the status of I/O signals exchanged with the host device.

Status monitor Displays the status of servo, brake, emergency stop, etc.

Run monitor Displays the current position, speed, run type, etc. during operation.

Alarm Displays up to 8 alarms that occurred most recently.

Warning Displays up to 8 warnings that occurred most recently.

Message * Displays 1 cause (alarm) of the operation stop that occurred most recently.

Alarm records Displays past alarms and their descriptions.

Information Displays the model name and specs of the controller and robot being used.

* This function was added from Ver. 1.06.

7.1 I/O monitor

1 On the main menu screen, select "Monitor".The "Monitor" menu screen opens showing selectable menu items.

2 Move the cursor to "I/O monitor" and press .The "I/O monitor" screen opens showing the current I/O status.

Pressing displays the second page. Pressing returns to the first page.

I/O monitor Status monitor Run monitor Alarm Warning Message Alarm records

Monitor

INPIN0:□PIN1:□PIN2:□PIN3:□PIN4:□PIN5:□PIN6:□PIN7:□

JOG-:□ JOG+:□ MANU:□ ORG:□/LOCK:■START:□RESET:□SERVO:■

OUTPOUT0:□POUT1:□POUT2:□POUT3:□POUT4:□POUT5:□POUT6:□POUT7:□

　　　■:ON OUT0:□ OUT1:□ OUT2:□ OUT3:□ BUSY:□ END:■ /ALM:■SRV-S:■

I/O monitor

IN:

WIN:

□□□□□□□□□□□□□□□□

□□□□　h□□□□　h□□□□　h□□□□　h

OUT:

WOUT:

　　　　　　　■:ON□□□□□□□□□□■□□□■□

□□□□　h□□□□　h□□□□　h□□□□　h

I/O monitor

NRM [01] NRM [01]

NRM [01]

Page 1

Page 2 • The first page shows the ON/OFF

status of each I/O signal. = OFF, = ON

• On the second page, IN and OUT show bit addresses (byte units), and WIN and WOUT show hexadecimal addresses (word units).

3 Press CLR .This returns to the "Monitor" menu screen.

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7.2 Status monitor


2 Move the cursor to "Status monitor" and press .The "Status monitor" screen opens. The meaning of each item is as follows:

= OFF, = ON

SRV-S : Servo statusBRAKE : BrakeE-STOP : Emergency stopLINK : Network linkORGSEN : Origin sensorZSTATUS : Linear Z phaseP-BLK : Main power outage

PZONE : Personal zoneNEAR : Near width outputTLM-S : Pushing statusORG-S : Origin search statusZONE : Zone outputMOVE : MovingWARN : Warning outputMANU-S : Manual mode status


Monitor

SRV-S:BRAKE:

E-STOP:LINK:

ORGSEN:ZSTATUS:

P-BLK:

■ □ ■ ■ □ □ □

PZONE:NEAR:

TLM-S:ORG-S:ZONE:MOVE:WARN:

MANU-S:

□ □ □ ■ ■ ■ □ □

Status monitorNRM [01] NRM [01]



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7.3 Run monitor


2 Move the cursor to "Run monitor" and press .The "Run monitor" screen opens. Pressing displays the second page. Pressing

returns to the first page. The meaning of each item is as follows:

Current pos. : Current robot position (mm)Current speed : Robot operation speed (mm/s)Run status : Operation statusRun point : Operation pointCurrent value : Electrical current (%)Load factor : Load factor (%)Voltage : Voltage (V)Temperature : Temperature in controller (˚C)Distance : Total distance robot has moved (km)Total time : Total time robot has run (d:h:m)


Monitor

Current pos.Current speedRun statusRun pointCurrent valueLoad factorVoltageTemperatureDistance

Run monitor629.1601120.70

ABS4

-3020

280.040

12.000

mm mm/s - - % % V °C km

NRM [01] NRM [01]

Run monitor NRM [01]

Page 1

Page 2

Total Time 12:15:34 d:h:m


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7.4 Alarm display


2 Move the cursor to "Alarm" and press .The "Alarm" screen opens showing up to 8 alarms that have occurred most recently. If 9 or more alarms have occurred, they will be automatically deleted starting from the oldest alarm.


Monitor

No. factor01: 85 OVER LOAD 02: 87 OVER HEAT 03:04:05:06:07:08:

AlarmNRM [01] NRM [01]

TIP

For details on alarms and corrective actions, refer to the "Controller Guide", Chapter 6, section 6.4, "Alarms: Possible causes and actions".)



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7.5 Warning display


2 Move the cursor to "Warning" and press .The "Warning" screen opens showing up to 8 warnings that have occurred most recently. If 9 or more warnings have occurred, they will be automatically deleted starting from the oldest warning.


Monitor

No. factor01: F1 ABS.Low battery02:03:04:05:06:07:08:

WarningNRM [01] NRM [01]

TIP

For details on warnings and corrective actions, refer to the "Controller Guide", Chapter 6, section 6.4, "Alarms: Possible causes and actions".)


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7.6 Message display


2 Move the cursor to "Message" and press .The "Message" screen opens showing 1 cause (alarm) of the operation stop that occurred most recently.


Monitor Message No.01:02:03:04:05:06:07:08:

factor43 NO POINT DATA

NRM [01] NRM [01]

TIP

For details on messages and corrective actions, refer to the "Controller Guide", Chapter 6, section 6.4, "Alarms: Possible causes and actions".)



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7.7 Alarm record display


2 Move the cursor to "Alarm records" and press .The "Alarm records" screen opens showing up to 50 past alarms that occurred.

Pressing or moves the cursor up or down. Pressing or switches the

page.


Monitor Alarm records No.01:02:03:04:05:06:07:08:

factor86 OVERHEAT 85 OVERVOLTAGE 88 LOW VOLTAGE 85 OVERVOLTAGE 89 POSITION ERROR82 ENCODER ERROR86 OVERHEAT 81 AC POWER DOWN

NRM [01] NRM [01]

3 To view the details of an alarm, move the cursor to it and press .The screen shows the date when the alarm occurred, as well as operating conditions.

On this screen, pressing displays the second page. Pressing. returns to the

first page. Alarm records

8612:15:34

356.123.21ABS2550

280.0

-d:h:mmmmm/s--%V

No.01FactorTimePositionSpeedRun statusRun pointCurrent valueVoltage

NRM [01]

4 Press CLR to return to the "Alarm records" screen.Pressing CLR once more returns to the "Monitor" menu screen.

CAUTION

The alarm records are important data used to analyze problems that occurred in this product, so do NOT delete them. Leaving the alarm records undeleted will cause no problems. However, if you want to delete them, use the procedure below.

To delete the alarm records:

1. On the "Alarm records" screen, press FUNC .

2. When the "Function" menu appears showing "Delete all", press .

3. When a confirmation message appears, select "Yes" and press .

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7.8 Information displayThe model names and specifications of the controller and robot being used can be displayed.


Pressing displays the second page. (Pressing returns to the first page.) Press to display the "Information" on the second page.

2 Move the cursor to "Information" and press .The "Information" screen opens showing the model names and specifications of the controller and robot being used.

Controller Option Version PNT table type

Robot Stroke Max. speed Max. payload

InformationTS-P-10CC-Link1.00.00NORMAL

MF15250.0002500.0020

- - - -

- mm mm/s kg

NRM [01] InformationMonitor NRM [01]

Page 2



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8. Other functions

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8. Other functions8.1 Operation modeWhen using the HT1, the operation mode can be set to any of the followings modes. The default setting is "Normal mode".

Run modeHT1

operation

I/O control from host

deviceDescription

Normal modePermitted Permitted All HT1 operations and host device I/O

controls can be performed.Normal mode (safety)

Monitor mode Only monitor mode permitted

Permitted

HT1 can be used only in Monitor mode, so editing data or operating the robot is impossible. Robot can be operated only from host device by I/O control.

Monitor mode (safety)

Debug mode

Permitted Prohibited

All HT1 operations can be performed, but host device I/O controls are prohibited. Use this mode when point-teaching or making adjustments using the HT1 within a safety enclosure.

Debug mode (safety)

*Robot operation is limited to low speed in the "safety" modes listed above.

CAUTION

To change the operation mode, turn on the power to the controller while holding down the CLR on the HT1, or reinsert the HT1 cable connector into the COM1 connector on the controller front panel. For details on each operation mode, refer to section 5.6, "Operation modes", in Chapter 5 of the Controller Guide.

1 On the main menu screen, select "Run mode".The "Run mode" menu screen appears. An asterisk (*) is displayed to the left of the currently selected mode.

PointOperationParameterMonitorRun modeConnectionTerminal

Menu

* Normal mode Monitor mode Debug mode Normal mode(safety) Monitor mode(safety) Debug mode(safety)

I/O :Run OKTerm.:Edit,Run OK

Run ModeNRM [01] NRM [01]

NOTE

On the HT1 screen, the menu item to select the operation mode is named "Run mode". The

"Run mode" is selectable only when the HT1 was started while holding down CLR . Otherwise, all modes other than the currently selected mode are grayed out and cannot be selected.

2 Move the cursor to the mode you want to set, and press .

3 Press CLR .This returns to the main menu screen.

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8. Other functions

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8.2 Setting modeWhen you start the HT1 while holding down FUNC , the "Settings" screen appears

as shown below. From this screen, you can change the LCD display language (Japanese/English) if needed.

Serial port Language Back light Brightness B Brightness GC Brightness GB Brightness W

EnglishON3110120

min.

CLR: Go to Menu

Settings

"Settings" screen

CAUTION

In Setting mode, do not change any settings other than the LCD display language (Japanese/English).

NOTEAfter changing the setting, press CLR to enter the main menu screen and enable the change.

8.2.1 Changing the display language

1 Move the cursor to "Language" and press .The language can now be changed. Selectable options are shown in the comment area.

Serial port Language Back light Brightness B Brightness GC Brightness GB Brightness W

EnglishON3110120

min.

JapaneseEnglish

Settings

2 Use or to select the desired language (Japanese/English) and

press .

3 Press CLR .This returns to the "Settings" screen.


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9. Specifications

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9. Specifications

9.1 Basic specificationsItem Specifications

Basic specifications

Outer dimensions W88 H191 D45 mm (not including emergency stop button)

WeightHT1 : 260kg (without cable), 400g (including cable)HT1-D : 300kg (without cable), 440g (including cable)

Power 12V DC, 0.25A or less (supplied from controller)Cable length 3.5m

Externalinputs/outputs

Interface RS-232C

Display Dot matrix monochrome LCD (with backlight)32 characters 10 lines

Operation keys Mechanical switchEmergency stop button Normally-closed (with lock mechanism)

ENABLE switch(HT1-D only) 3-position switch

Safety connector (HT1-D only) 15-pin D-sub connector (male)

Ambient conditions

Ambient operatingTemperature/humidity 0 to +40˚C / 35 to 85% RH (no condensation)

Ambient storageTemperature/humidity -10 to +65˚C / 10 to 85% RH (no condensation)

Others Compatible controllers All TS series models

9.2 Dimensional outlines

9.2.1 HT1

FUNCCLR

RUN STOP

88 63

2045

53

191

(Units: mm)

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9. Specifications

9

9.2.2 HT1-D

FUNCCLR

RUN STOP

88 63

2045

53

191

(Units: mm)

Safety connector

3-position ENABLE switch

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Contents

Introduction C-1

1. Communication specifications C-2

1.1 Communication parameter specifications C-2

1.2 Communication command specifications C-2

2. Communication command lists C-3

3. Communication command description C-5

3.1 Robot operation commands C-5

Positioning operation (START) C-5

Operation stop (STOP) C-5

Return-to-origin (ORG) C-6

JOG movement (JOG+, JOG-) C-6

Inching movement (INCH+, INCH-) C-7

3.2 Status change commands C-8

Servo status change (SRVO) C-8

Brake status change (BRK) C-8

Reset (RESET) C-8

3.3 Edit commands C-9

Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T) C-9

Point data writing 2 (P_, S_, AC_, DC_, Q_) C-10

Current position teaching (TEACH) C-11

Point data copying (COPY) C-11

Point data deleting (DEL) C-12

Parameter data writing (K) C-12

Automatic node number setting (SETID) C-13

3.4 Query commands C-14

Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T) C-14

Parameter data reading (?K) C-15

Status data reading (?D) C-16

Input/output information reading (?IN, ?INB, ?OUT, ?OUTB) C-17

Word input/output information reading (?WIN, ?WOUT) C-18

Option information reading (?OPT, ?OPTB) C-19

Alarm/warning information reading (?ALM, ?WARN) C-20

Communication Command Guide C-1

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Introduction


IntroductionThe TS series robot controller allows you to write the point data or operate the robot using a communication device, such as a personal computer through the RS-232C communication.This "Communication Command Guide" explains how to set the communication parameters necessary to perform the communication between the communication device and the TS series, and also explains the communication command specifications.

Before reading this section, read the precautions and descriptions stated in the "Controller Guide" (main part of this manual) to understand the point data and parameter data, as well as controller functions and usage.

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1. Communication specifications

C-2 Communication Command Guide Communication Command Guide C-3

1. Communication specifications1.1 Communication parameter specificationsThe communication parameters on the mating unit, such as personal computer must be set as follows. Refer to the relevant unit's operation manual for the setting procedure.

Communication parameter specifications ■Parameter Setting

Baudrate 38,400bpsData bit 8 bitsParity OddStop bit 1 bitFlow control None

1.2 Communication command specificationsThe TS series robot controller provides ASCII character string communication commands to communicate with an external communication device.

The communication commands are classified into four categories as follows.Type Contents

Robot operation command Operates or stops the robot.Status change command Changes the servo or brake status.Edit command Writes the parameter or point data.Query command Reads the data or robot status.

The basic format of the communication command is as follows.Data transmission format

@<command>[<data number/status>][.n] c/r l/f @<command>[<data number>][.n]=<setting value> c/r l/f

n: Node number

Data response format

OK.n c/r l/f NG.n=<alarm number>c/r l/f RUN.n c/r l/f END.n c/r l/f

n: Node number

• All communication commands consist of an ASCII character string that begins with a start code '@'(=40h) and ends with c/r(=0Dh)l/f(=0Ah).

• 'n' (node number) is used for the daisy chain connection. One host communication device communicates with one robot controller, or with all the daisy-chained controllers (up to 16 controllers).

NOTEWhen 'n' (node number) is omitted, commands are sent to all the daisy-chained controllers.

CAUTION

Make sure to perform automatic node number setting when you first use the daisy-chained controller or when you have replaced the controllers.To perform the node number setting, execute "Automatic node number assignment" in the support software TS-Manager or send the "Automatic node number setting (SETID)" command (communication command).

• The number of bytes, which can be output by one command response, is 255.• " , " (comma) means the same as c/r l/f during data transmission.

C-2 Communication Command Guide

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2. Communication command lists

2. Communication command listsRobot operation commands ■

Command Format Command Description

START @START<point number>[.<n>] Positioning operationSTOP @STOP[.<n>] Operation stopORG @ORG[.<n>] Return-to-originJOG+ @JOG+[.<n>] JOG movement (+ direction)JOG- @JOG-[.<n>] JOG movement (- direction)INCH+ @INCH+[.<n>] Inching movement (+ direction)INCH- @INCH-[.<n>] Inching movement (- direction)

n: Node number

Status change commands ■


SRVO @SRVO<1 or 0>[.<n>] Servo status changeBRK @BRK<1 or 0>[.<n>] Brake status changeRESET @RESET[.<n>] Reset

n: Node number

Edit commands ■


M @M<point number>[.<n>]=<setting value>

Point data writing

Operation typeP @P<point number>[.<n>]=<setting value>

PositionP_ @P_<point number>[.<n>]=<setting value> (Data is not saved

into the memory.)S @S<point number>[.<n>]=<setting value>

SpeedS_ @S_<point number>[.<n>]=<setting value> (Data is not saved

into the memory.)AC @AC<point number>[.<n>]=<setting value>

AccelerationAC_ @AC_<point number>[.<n>]=<setting value> (Data is not saved

into the memory.)DC @DC<point number>[.<n>]=<setting value>

DecelerationDC_ @DC_<point number>[.<n>]=<setting value> (Data is not saved

into the memory.)Q @Q<point number>[.<n>]=<setting value>

PushQ_ @Q_<point number>[.<n>]=<setting value> (Data is not saved

into the memory.)ZL @ZL<point number>[.<n>]=<setting value> Zone (-)ZH @ZH<point number>[.<n>]=<setting value> Zone (+)N @N<point number>[.<n>]=<setting value> Near widthJ @J<point number>[.<n>]=<setting value> JumpF @F<point number>[.<n>]=<setting value> FlagT @T<point number>[.<n>]=<setting value> TimerTEACH @TEACH<point number>[.<n>] Current position teachingCOPY @COPY<point number 1>-<point number 2>[.<n>] Point data copyingDEL @DEL<point number 1>[-<point number 2>][.<n>] Point data deletingK @K<parameter number>[.<n>]=<setting value> Parameter data writing

SETID @SETID Automatic node number setting (when daisy chain function is used)

n: Node number

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2. Communication command lists


Query commands ■


?M @?M<point number>[.<n>]

Point data reading

Operation type?P @?P<point number>[.<n>] Position?S @?S<point number>[.<n>] Speed?AC @?AC<point number>[.<n>] Acceleration?DC @?DC<point number>[.<n>] Deceleration?Q @?Q<point number>[.<n>] Push?ZL @?ZL<point number>[.<n>] Zone (-)?ZH @?ZH<point number>[.<n>] Zone (+)?N @?N<point number>[.<n>] Near width?J @?J<point number>[.<n>] Jump?F @?F<point number>[.<n>] Flag?T @?T<point number>[.<n>] Timer?K @?K<parameter number>[.<n>] Parameter data reading?D @?D<status number>[.<n>] Status information reading?IN @?IN<input number>[.<n>] Input information reading?INB @?INB<input bit number>[.<n>] Input information (bit) reading?OUT @?OUT<output number>[.<n>] Output information reading?OUTB @?OUTB<output bit number>[.<n>] Output information (bit) reading?WIN @?WIN<word input number>[.<n>] Input word information reading?WOUT @?WOUT<word output number>[.<n>] Output word information reading?OPT @?OPT<option number>[.<n>] Option information reading?OPTB @?OPTB<option bit number>[.<n>] Option information (bit) reading?ALM @?ALM<alarm occurrence number>[.<n>] Alarm information reading?WARN @?WARN<warning occurrence number>[.<n>] Warning information reading

n: Node number


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3. Communication command description


3.1 Robot operation commandsThe robot operation commands are intended to operate or stop the robot.

Positioning operation (START)

Format @START<point number>[.<node number>] c/r l/f

Meaning Starts the positioning operation of specified point data.

FunctionThis command has the same function as the start (START) input.

Setting<Point number> : 1 to 255<Node number> : 1 to 16 (This setting can be omitted when the same command

is sent to all the controllers connected with the host device, as by daisy chain connection.)

Communication example

Transmission Response

@START1.1 c/r l/f Positioning operation of point data 1RUN.1 c/r l/f Starts the positioning operation.END.1 c/r l/f Normal end

@START2.1 c/r l/f Positioning operation of point data 2RUN.1 c/r l/f Accepts the positioning operation and starts it.NG.1=44 c/r l/f Abnormal end

(Operation is stopped by alarm "44: SOFTLIMIT OVER".)

Operation stop (STOP)

Format @STOP[.<node number>] c/r l/f

Meaning Stops the operation.

FunctionStops the operation/movement of the robot.When the operation/movement is stopped by this command, the robot decelerates, and then stops.

Setting<Node number> : 1 to 16 (This setting can be omitted when the same command




@START1.1 c/r l/f Positioning operation of point data 1RUN.1 c/r l/f Starts the positioning operation.

@STOP.1 c/r l/f Stop

NG.1=46 c/r l/f Abnormal end(Operation is stopped by alarm "46: STOP KEY".)

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Format @ORG[.<node number>] c/r l/f

Meaning Performs the return-to-origin.

FunctionThis command has the same function as the return-to-origin (ORG) input.





@ORG.1 c/r l/f Return-to-origin operationRUN.1 c/r l/f Starts the return-to-origin.END.1 c/r l/f Normal end

JOG movement (JOG+, JOG-)

Format@JOG+[.<node number>] c/r l/f @JOG-[.<node number>] c/r l/f

Meaning Performs the JOG movement in the + or - direction.

FunctionPerforms the JOG movement of the robot in a specified direction (+/-).

NOTE

•

•

The JOG movement speed is set using "JOG speed (K10)" of the RUN parameter.(See also Chapter 3, section 3.4.2 "Parameter details" of the Controller Guide.)The JOG movement using the communication command does not relate to the manual mode status.





@JOG+.1 c/r l/f JOG movement in the + direction.RUN.1 c/r l/f Starts the JOG movement.

@STOP.1 c/r l/f Transmits the operation stop.OK.1 c/r l/f JOG movement normal stop


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Inching movement (INCH+, INCH-)

Format@INCH+[.<node number>] c/r l/f@INCH-[.<node number>] c/r l/f

Meaning Performs the inching movement in the + or - direction.

FunctionPerforms the inching movement of the robot in a specified direction (+/-).

NOTE

•

•

The inching width (amount) is set using "Inching width (K11)" of the RUN parameter.(See also Chapter 3, section 3.4.2 "Parameter details" of the Controller Guide.)The inching movement using the communication command does not relate to the manual mode status.





@INCH-.1 c/r l/f Inching movement in the - direction.RUN.1 c/r l/f Starts the inching movement.END.1 c/r l/f Normal end

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3.2 Status change commandsThe status change commands are intended to change the servo or brake status.

Servo status change (SRVO)Format @SRVO<1 or 0>[.<node number>] c/r l/f

Meaning Changes the servo status.

FunctionThis command has the same function as the servo ON (SERVO) input.Setting<1 or 0> : 1 Servo ON, 0 Servo OFF<Node number> : 1 to 16 (This setting can be omitted when the same command


Communication exampleTransmission Response

@SRVO1.1 c/r l/f Servo ONOK.1 c/r l/f Normal end

Brake status change (BRK)Format @BRK<1 or 0>[.<node number>] c/r l/f

Meaning Changes the brake status.

FunctionChanges the brake status. Note that the brake status cannot be changed while the servo is ON.Setting<1 or 0> : 1 Brake ON, 0 Brake release<Node number> : 1 to 16 (This setting can be omitted when the same command



@BRK0.1 c/r l/f Brake releaseOK.1 c/r l/f Normal end

Reset (RESET)Format @RESET[.<node number>] c/r l/f

Meaning Performs the reset.

FunctionThis command has the same function as the reset (RESET) input.When executing this command, the following operations are performed.

(1) Resets the alarm.(2) Clears the point number output.(3) Clears the remaining movement amount of the relative positioning operation.




@RESET.1 c/r l/f ResetOK.1 c/r l/f Normal end


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3.3 Edit commandsThe edit commands are intended to write data, such as parameter or point.

Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T)

Format

@M<point number>[.<node number>]=<setting value> c/r l/f@P<point number>[.<node number>]=<setting value> c/r l/f@S<point number>[.<node number>]=<setting value> c/r l/f@AC<point number>[.<node number>]=<setting value> c/r l/f@DC<point number>[.<node number>]=<setting value> c/r l/f@Q<point number>[.<node number>]=<setting value> c/r l/f@ZL<point number>[.<node number>]=<setting value> c/r l/f@ZH<point number>[.<node number>]=<setting value> c/r l/f@N<point number>[.<node number>]=<setting value> c/r l/f@J<point number>[.<node number>]=<setting value> c/r l/f@F<point number>[.<node number>]=<setting value> c/r l/f@T<point number>[.<node number>]=<setting value> c/r l/f

MeaningWrites the setting value to the individual data of a specified point, and saves it into the memory.

FunctionWrites the setting value to the individual data of a specified point. The written data is saved into the memory (EEPROM).The command may vary depending on the type of individual data. For details, see the table below.

■ Command and data type

Command TypeUnit


M Operation type -P Position 0.001mmS Speed % 0.01mm/s

AC Acceleration % 0.01m/s2

DC Deceleration %

Q Push %

ZL Zone (-) 0.001mmZH Zone (+) 0.001mmN Near width 0.001mmJ Jump -F Flag -T Timer ms

CAUTION

There is a limit to the number of data writing cycles for the memory (EEPROM). So, when it is required to frequently write the data to the memory, use commands described in "point data writing 2".

NOTE

The individual data of the point data related to the position or speed may include the decimal point due to the specifications. However, when handling such data using the communication command, all of data are handled as integer values. For example, when the position data is 20.000 [mm], the communication command handles this value as "20000[10-3mm]" not including the decimal point.

TIPFor point data details, see Chapter 3, section 3.2 "Point data" of the Controller Guide.

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Transmission [email protected]=30000 c/r l/f Writes "30000" to "Position" of point data 1.

OK.1 c/r l/f Normal [email protected]=50 c/r l/f Writes "50" to "Speed" of point data 1.

OK.1 c/r l/f Normal [email protected]=100 c/r l/f Writes "100" to "Acceleration" of point data 1.

OK.1 c/r l/f Normal [email protected]=50 c/r l/f Writes "50" to "Deceleration" of point data 1.

OK.1 c/r l/f Normal [email protected]=1 c/r l/f Writes "1" (ABS) to "Operation type" of point data 1.

OK.1 c/r l/f Normal end

Point data writing 2 (P_, S_, AC_, DC_, Q_)

Format

@P_<point number>[.<node number>]=<setting value> c/r l/f@S_<point number>[.<node number>]=<setting value> c/r l/f@AC_<point number>[.<node number>]=<setting value> c/r l/f@DC_<point number>[.<node number>]=<setting value> c/r l/f@Q_<point number>[.<node number>]=<setting value> c/r l/f

Meaning Writes the setting value to the individual data of a specified point.

FunctionWrites the setting value to the individual data of a specified point. The written data is not saved into the memory.The command may vary depending on the type of individual data. For details, see the table below.


Command TypeUnit


P_ Position 0.001mmS_ Speed % 0.01mm/s

AC_ Acceleration % 0.01m/s2

DC_ Deceleration %

Q_ Push %

NOTE

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•

Even when the setting value is written using this command, the value is not saved into the memory. So, the value is returned to its previous value after the power has been turned off, and then turned on again. When the setting value needs to be saved into the memory, it is necessary to write the operation type (M) after the setting value has been written.The individual data of the point data related to the position or speed may include the decimal point due to the specifications. However, when handling such data using the communication command, all of data are handled as integer values. For example, when the position data is 20.000 [mm], the communication command handles this value as "20000[10-3mm]" not including the decimal point.This command is valid from version 1.04.xxx or higher.

TIPFor point data details, see Chapter 3, section 3.2 "Point data" of the Controller Guide.


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@P_1.1=30000 c/r l/f Writes "30000" to "Position" of point data 1.OK.1 c/r l/f Normal end

@S_1.1=50 c/r l/f Writes "50" to "Speed" of point data 1.OK.1 c/r l/f Normal end

@AC_1.1=100 c/r l/f Writes "100" to "Acceleration" of point data 1.OK.1 c/r l/f Normal end

@DC_1.1=50 c/r l/f Writes "50" to "Deceleration" of point data 1.OK.1 c/r l/f Normal end

Current position teaching (TEACH)Format @TEACH<point number>[.<node number>] c/r l/f

Meaning Teaches the current position to the position data of specified point data.

FunctionThis command has the same function as the current position teaching (TEACH) input.

NOTE

•

•

The current position teaching using the communication command does not relate to the manual mode and interlock statuses.If the return-to-origin is not completed, the abnormal end is returned.




@TEACH2.1 c/r l/f Teaches the current position to point data 2.OK.1 c/r l/f Normal end

Point data copying (COPY)Format @COPY<point number 1>-<point number 2>[.<node number>] c/r l/f

Meaning Copies the data of the point number 1 to the data of the point number 2.

FunctionCopies the data of point number 1 to point number 2.Setting<Point number> : 1 to 255 < Point number 1> Copy source number < Point number 2> Copy destination number<Node number> : 1 to 16 (This setting can be omitted when the same command



@COPY2-3.1 c/r l/f Copies point data 2 to point data 3.OK.1 c/r l/f Normal end

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Point data deleting (DEL)Format @DEL<point number 1>[-<point number 2>][.<n>] c/r l/f

Meaning Deletes specified point data.

FunctionDeletes the point data from point number 1 to point number 2.Setting<Point number> : 1 to 255 < Point number 1> Delete start number < Point number 2> Delete end number When the number of point data you want to delete is "1", < point number 2> can be omitted.<Node number> : 1 to 16 (This setting can be omitted when the same command



@DEL1.1 c/r l/f Deletes point data 1.OK.1 c/r l/f Normal end

@DEL1-3.1 c/r l/f Deletes point data 1 to 3.OK.1 c/r l/f Normal end

Parameter data writing (K)Format @K<parameter number>[.<node number>]=<setting value> c/r l/f

Meaning Writes the setting value to a specified parameter.

FunctionWrites the setting value to a specified parameter.

CAUTION

When parameters need to be edited, do not edit parameters not described in this guide. Doing so may cause a communication failure or malfunction.

NOTE

•

•

Some parameter data may include the decimal point due to the specifications. However, when handling such data using the communication command, all of data are handled as integer values. For example, when K1 ((-) software limit) is 20.000[mm], the communication command handles this value as "20000[10-3mm]" not including the decimal point.The operation parameter, I/O parameter, and option parameter you have changed become valid after the power has been turned off, and then turned on again.

Setting<Parameter number> : 1 to 138<Node number> : 1 to 16 (This setting can be omitted when the same command


TIP

For parameter number details, see Chapter 3, section 3.4 "Parameter data" of the Controller Guide.



@K10.1=50 c/r l/f Writes "50" to parameter data K10 (JOG speed).OK.1 c/r l/f Normal end


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Automatic node number setting (SETID)

Format @SETID

Meaning Sets node numbers for daisy-chained controllers.

FunctionSets the node numbers to the daisy-chained controllers from "1" in order of distance starting from the controller nearest to the host communication device.

WARNING

•

•

The maximum number of controllers that can be daisy-chained is 16. If 17 or more controllers are connected, they may not operate properly.Make sure that there are no daisy-chained controllers having the same node number before sending other command.If there are controllers with the same node number, perform automatic node number setting again. If you do not do this, the system may not operate properly.

Communication example (16 daisy-chained controllers)


@SETID c/r l/f Performs automatic node number settingOK.1 c/r l/f Node number 1 setting endOK.2 c/r l/f Node number 2 setting end :OK.16 c/r l/f Node number 16 setting end

CAUTION

If you receive several identical responses, there is a duplication of node number. [Example] When reading the node number (K38) from all the nodes by query command Transmission Response @?K38 c/r l/f K38.1=1 c/r l/f OK.1 c/r l/f

K38.2=2 c/r l/f

Duplication

OK.2 c/r l/f K38.2=2 c/r l/f OK.2 c/r l/f In this case, be sure to perform automatic node number setting.

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3.4 Query commandsThe query commands are intended to read the data or robot status.

Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T)

Format

@?M<point number>[.<node number>] c/r l/f@?P<point number>[.<node number>] c/r l/f@?S<point number>[.<node number>] c/r l/f@?AC<point number>[.<node number>] c/r l/f@?DC<point number>[.<node number>] c/r l/f@?Q<point number>[.<node number>] c/r l/f@?ZL<point number>[.<node number>] c/r l/f@?ZH<point number>[.<node number>] c/r l/f@?N<point number>[.<node number>] c/r l/f@?J<point number>[.<node number>] c/r l/f@?F<point number>[.<node number>] c/r l/f@?T<point number>[.<node number>] c/r l/f

Meaning Reads the individual data of a specified point.

FunctionReads the individual data of a specified point. The command may vary depending on the type of individual data. For details, see the table below.


Command TypeUnit


?M Operation type -?P Position 0.001mm?S Speed % 0.01mm/s

?AC Acceleration % 0.01m/s2

?DC Deceleration %

?Q Push %

?ZL Zone (-) 0.001mm?ZH Zone (+) 0.001mm?N Near width 0.001mm?J Jump -?F Flag -?T Timer ms

NOTE

The individual data of the point data related to the position or speed may include the decimal point due to the specifications. However, when handling such data using the communication command, all of data are handled as integer values. For example, when the position data is 20.000[mm], the communication command handles this value as “20000[10-3mm]” not including the decimal point.




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@?P1.1 c/r l/f Reads "Position" of point data 1.P1.1=30000 c/r l/f Receives the data.OK.1 c/r l/f Normal end

@?S2.1 c/r l/f Reads "Speed" of point data 2.S2.1=100 c/r l/f Receives the data.OK.1 Normal end

Parameter data reading (?K)

Format @?K<parameter number>[.<node number>] c/r l/f

Meaning Reads a specified parameter.

FunctionReads the setting value of a specified parameter.

NOTE

Some parameter data may include the decimal point due to the specifications. However, when handling such data using the communication command, all of data are handled as integer values. For example, when K1 ((-) software limit) is 20.000[mm], the communication command handles this value as “20000[10-3mm]” not including the decimal point.

Setting<Parameter number> : 1 to 138<Node number> : 1 to 16 (This setting can be omitted when the same command


TIP

For parameter number details, see Chapter 3, section 3.4 "Parameter data" of the Controller Guide.



@?K10.1 c/r l/f Reads parameter data K10 (JOG speed).K10.1=50 c/r l/f Receives the data.OK.1 c/r l/f Normal end

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Status data reading (?D)

Format @?D<status number>[.<node number>] c/r l/f

Meaning Reads specified status information.

FunctionReads the status information, such as current position or speed.

Setting<Status number> : 0 to 20 (See the table below.)<Node number> : 1 to 16 (This setting can be omitted when the same command


■ Data number and type of status information

Number Name Unit Contents

0 Current position 0.001mm Current position information1 Current speed 0.01mm/s Actual speed information2 Electrical current % Percentage of electrical current to rated current6 Position command 0.001mm Position command information currently running7 Speed command 0.01mm/s Speed command information currently running9 Voltage value 0.1V Motor drive voltage

10 Temperature ℃ Temperature of motor drive module

13 Current point number - Point number of positioning operation

currently running

14 Load rate % Overload error occurs if the load rate reaches 100%.

17 Machine reference

%

Machine reference(See the explanation on Machine reference stated in Chapter 5, section 5.2.2 "Origin point and coordinates relationship" of the Controller Guide.)

18 Operation status -

Value Meaning

-1 Return-to-origin is being executed.0 Stopping1

Operation type

ABS2 INC3 ABS merge 4 INC merge 5 ABS push 6 INC push 7 ABS deceleration push 8 INC deceleration push



@?D0.1 c/r l/f Reads the information on status number 0 (current position).

D0.1=32000 c/r l/f Receives the data.OK.1 c/r l/f Normal end


1

2

3



Input/output information reading (?IN, ?INB, ?OUT, ?OUTB)

Format

Input information@?IN<input number>[.<node number>] c/r l/f@?INB<input bit number ＞ [.<node number>] c/r l/fOutput information@?OUT<output number>[.<node number>] c/r l/f@?OUTB<output bit number>[.<node number>] c/r l/f

Meaning Reads specified input/output information.

FunctionReads the information on specified input/output signal.The read-out results of the input/output information in decimal notation are returned.

Setting<Input/output number> : 1 (See the table below.)<Input/output bit number> : 0 to 15 (See the table below.)<Node number> : 1 to 16 (This setting can be omitted when the same

command is sent to all the controllers connected with the host device, as by daisy chain connection.)

■ Input/output information type

Input/output Number

Input/output Bit Number

Input Output

Symbol Meaning Symbol Meaning

1

0 PIN0

Point number selection

POUT0

Point number output

1 PIN1 POUT12 PIN2 POUT23 PIN3 POUT34 PIN4 POUT45 PIN5 POUT56 PIN6 POUT67 PIN7 POUT7

8 JOG+ JOG movement (+ direction) OUT0

Control output9 JOG- JOG movement (- direction) OUT1

10 MANUAL Manual mode OUT211 ORG Return-to-origin OUT3

12 /LOCK Interlock BUSY Operation is being executed.

13 START Start END Operation completion

14 RESET Reset /ALM Alarm15 SERVO Servo ON SRV-S Servo status



@?IN1.1 c/r l/f Reads the information on input 1 (bit 15 to 0).IN1.1=36864 c/r l/f Receives the data. 36864 = 9000hOK.1 c/r l/f Normal end

@?OUTB0.1 c/r l/f Reads the information on output bit 0.OUTB0.1=1 c/r l/f Receives the data.OK.1 c/r l/f Normal end

1

2

3




Word input/output information reading (?WIN, ?WOUT)

Format

Input information@?WIN<word input number>[.<node number>]c/r l/fOutput information@?WOUT<word output number>[.<node number>]c/r l/f

Meaning Reads specified word input/output information.

FunctionReads the word input/output information.The read-out results of the word input/output information in decimal notation are returned.

NOTEThe word input/output is a data area to be used by the remote command.

Setting<Word input/output number> : 0 to 3 (See the table below.)<Node number> : 1 to 16 (This setting can be omitted when the same


■ Input/output information type

Input/output Number

Input Output

Symbol Meaning Symbol Meaning

0 WIN0 Execution command WOUT0 Status1 WIN1

Command optionWOUT1

Command response2 WIN2 WOUT23 WIN3 WOUT3



@?WIN1.1 c/r l/f Reads the information on word input 1 (WIN1).WIN1.1=4096 c/r l/f Receives the data. 4069 = 1000hOK.1 c/r l/f Normal end


1

2

3



Option information reading (?OPT, ?OPTB)

Format@?OPT<option number>[.<node number>] c/r l/f@?OPTB<option bit number>[.<node number>] c/r l/f

Meaning Reads specified option information.

FunctionReads the option information, such as zone output or emergency stop status.The read-out results of the option information in decimal notation are returned.

Setting<Option number> : 0 to 2 (See the table below.)<Option bit number> : 0 to 31 (See the table below.)<Node number> : 1 to 16 (This setting can be omitted when the same


■ Option information type

Option Information 1

Option NumberOption Bit Number

Symbol Meaning

0

1

0 PZONE Individual zone output1 NEAR Near width output2 TLM-S Push status3 ORG-S Return-to-origin completion status4 ZONE Zone output5 MOVE Moving6 WARN Warning output (1: Warning occurs.)7 MANU-S Manual mode status8 BUSY Operation is being executed.9 END Operation completion

10 ALM Alarm (1: Alarm status)11 SRV-S Servo status12 LOCK Interlock (1: Interlock status)13 BRAKE Brake status14 E-STOP Emergency stop status (1: Emergency stop)15 - (Reserved.)

Option Information 2

2

16 - (Reserved.)17 - (Reserved.)18 - (Reserved.)19 LINK Network link status20 ORGSEN Origin sensor signal input

21 to 31 - (Reserved.)

NOTE

When option number 0 is specified, all of the 32-bit information are output at once in binary notation.



@?OPT1.1 c/r l/f Reads option information 1 (bit 15 to 0).OPT1.1=35336 c/r l/f Receives the data. 35336 = 8A08hOK.1 c/r l/f Normal end

@?OPTB11.1 c/r l/f Reads option information bit 11.OPTB11.1=1 c/r l/f SRV-S = 1 (Servo ON status)OK.1 c/r l/f Normal end

1

2

3



Alarm/warning information reading (?ALM, ?WARN)

Format@?ALM<alarm occurrence number>[.<node number>] c/r l/f@?WARN<warning occurrence number>[.<node number>] c/r l/f

Meaning Reads the alarm/warning information currently occurring.

FunctionReads the alarm/warning information currently occurring.

TIP

For details regarding the alarm and warning numbers and their contents, see Chapter 6 "Troubleshooting" of the Controller Guide.

Setting<Alarm/warning occurrence number> : 1 to 32<Node number> : 1 to 16 (This setting can be omitted when the

same command is sent to all the controllers connected with the host device, as by daisy chain connection.)

NOTE

If multiple alarms and warnings occur, the alarm/warning occurrence numbers are sequentially assigned to 1, 2, and so on from a smaller alarm number.Example) If overload (86) and emergency stop (C1) occur, the alarm occurrence numbers

are assigned as follows. Alarm occurrence number 1 = 86 (overload) Alarm occurrence number 2 = C1 (emergency stop)



@?ALM1.1 c/r l/f Reads the alarm information.ALM1.1=86 c/r l/f Receives the data. Alarm number 86: Overload

error is occurring.OK.1 c/r l/f Normal end

@?WARN1.1 c/r l/f Reads the warning information.OK.1 c/r l/f Normal end (No warning occurs.)

1

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3

Daisy Chain Guide

Contents

Introduction D-1

1. Installation and wiring D-2

1.1 Installation D-2

1.2 Wiring D-3

2. Node number setting D-6

2.1 Automatic node number assignment function D-6

2.1.1 Performing automatic node number assignment D-6

2.1.2 When controllers with same node number exist on network D-8

2.2 Switching of controllers D-10

3. Writing and transferring saved and newly made data D-12

3.1 Writing data to controller D-12

3.2 Transferring data to controller D-15

Daisy Chain Guide D-1

1

2

3

1

2

3

Introduction


IntroductionThe daisy chain function of the TS series controllers enables monitoring of the controller status and manipulation of various data, such as point data and parameters, of up to 16 controllers that is connected (daisy-chained) with a computer or Handy Terminal.

This section explains the daisy chain function used with the support software TS-Manager.

For details on the basic operations of the support software TS-Manager, refer to the TS-Manager manual and its online help.

1

2

3

1. Installation and wiring

D-2 Daisy Chain Guide Daisy Chain Guide D-3


1.1 Installation

WARNING

••

•

•

To use the daisy chain connection, be sure to install an external emergency stop circuit.Be sure to be ready to perform external emergency stop before you operate a daisy-chained controller from the Handy Terminal or a computer.Only the controller directly connected with the Handy Terminal can be emergency-stopped with the emergency stop button on the Handy Terminal. Make sure to install external emergency stop circuits because other controllers cannot be stopped with the emergency stop button on the Handy Terminal. (refer to the "Controller Guide", Chapter 2, section 2.8.3, "Circuit details".)Do not connect more than 16 controllers in a daisy chain. This may cause unpredictable operation and incorrect communication.

System configuration diagram

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

PWR

ERR

PWR

SRV

COM2

COM1

ROBI/O

I/O

ES1ES2ES-

MP24VCP24V

0V

or

Handy Terminal

HT1

Communication cable

Controller Controller

Daisy chain connection (up to 16 controllers)

Controller Controller

Daisy chain cableDaisy chain cable

Daisy chain cable

TS-Manager

TS-Manager

Personal Computer

FUNCCLR

RUN STOP

CAUTION

•

•

•

The applicable controller software version for the daisy chain function is Ver.1.05.110 or later. The controllers with the earlier version software cannot utilize this function. Make sure to check the software version.The daisy chain function can be used with the HT1 with the software version 1.09 onwards.The daisy chain function cannot be used concurrently with the TS-Monitor (LCD monitor option).

NOTE

For details about the installation of the controller, refer to the "Controller Guide", Chapter 2 "Installation and wiring".

D-2 Daisy Chain Guide

1

2

3



1.2 Wiring

WARNING

Be sure to shut off the control power to the controller before connecting the controllers in a daisy chain.

To connect controllers in a daisy chain, the YAMAHA-specified daisy chain connection cables must be used. The number of connection cables required is the number of controllers to be connected plus one.Also a computer with the TS-Manager software installed and one communication cable for connecting the computer with the controller are required.

NOTE

For details regarding the connection of personal computer and Handy Terminal, refer to “2.5 Connecting the communication unit” in Chapter 2.

To connect with your personal computer, follow the steps below.

1 Connect the communication cable to the COM1 port on the controller that will be connected with the computer.

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

ABS.BATTERY

COM2

BAT

Communication cable connection

Controller

COM1 port

Communication cable

1

2

3



CAUTION

•

•

•

•

•

Select either the USB or D-Sub connection cable for the communication cable. To perform the communication through the USB port of a communication device, such as a personal computer, use the USB communication cable. If the D-Sub communication cable is connected to the USB port through a commercially available USB conversion cable, the operation cannot be guaranteed.Do not modify the communication cable. This can cause communication errors and equipment failure.Always grasp the connector body when connecting/disconnecting the communication cable at the controller. Pulling on the cable can cause equipment failure or breaking of wire.An incorrectly inserted connector or poor contact condition can cause malfunctions or equipment failure. Be sure that the connector is correctly and securely connected.When disconnecting the connector from the controller, pull the connector straight out to avoid bending the connector pins.

2 Connect the white connector of the daisy chain cable to the COM2 port on the

controller that has been connected with the communication cable.

N1

RGEN

LCOM1

I/OROB

CHARGE

200VL1

MOTOR

I/O

N

ABS.BATTERY

COM2

BAT

Connecting a daisy chain cable

Controller

COM2 port

Daisy chain cable


1

2

3



3 Connect the other end of the daisy chain cable (black connector) to the

COM1 port on the destination controller to be daisy-chained.In this way, two controllers have been connected. By using the same procedure, up to 16 controllers can be daisy-chained.

WARNING

•

••

•

•

•

••

•

•

•

•

The daisy chain cable is a dedicated cable for connecting controllers in a daisy chain. So, do not use the daisy chain cable for other equipment. This may cause equipment failure.Make sure each connector is facing correctly and insert it straight inwards.Make sure the metal parts of the connector do not come in contact with the external power supply terminals, etc.Make sure there are no metallic objects such as pins or needles making connect between the connector pins. These might cause heat, fire, or damage.Do not disassemble, modify or make a direct solder connection since this might cause heat, fire, or damage.Do not let water or moisture get on the unit. Do not touch the connector with moist hands since this might cause electrical shocks.Do not apply strong impacts to the unit since this might cause breakdowns.When inserting or removing the connector grip it by the connector body. Do not pull on the cable since this might cause wire breakage or connection defects.If the cable becomes worn or damaged then promptly stop using it and ask for repair at the dealer where you purchased or contact our sales office.Do not place heavy items on the cable or forcefully bend or pull on the cable since this might cause fires or breakdowns.Never connect to any equipment other than the specified model since this might damage the internal IC.If you notice smoke or a strange odor then remove the cable, stop using the equipment, and ask for repair at the dealer where you purchased or contact our sales office.

1

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3

2. Node number setting



2.1 Automatic node number assignment functionEach daisy-chained controller can be distinguished from each other by being assigned a "node number".

"Automatic node number assignment function" (hereafter referred to as "Automatic node number assignment") of the support software TS-Manager is used to set node numbers. They can also be set using the "Automatic node number setting (SETID)" command, one of the communication commands.

WARNING

When you connect controllers in a daisy chain, be sure to perform the automatic node number assignment. Also be sure to do it when another controller is added after the automatic node number assignment has been performed once.If multiple controllers with the same node number exist on a network, data communication may not be performed correctly. (Refer to "2.1.2 When controllers with same node number exist on network".)

CAUTION

•

•

To use the TS-Manager, it is required to install the TS-Manager software on your computer.The daisy chain function is not supported by the TS-Manager software with the version 1.2.0 and earlier. Make sure to use the software with the later version than 1.2.0. If the TS-Manager with the earlier version is already installed on your computer, first uninstall the software, and then install the new one.

NOTE

For details on the basic operations of the TS-Manager, refer to the TS-Manager manual and its online help.

2.1.1 Performing automatic node number assignmentTo perform automatic node number assignment, follow the steps below.

1 Start the TS-Manager.

TS-Manager icon


1

2

3



2 Select "Automatic Node Number Assignment" command from the "Tools"

menu in the main window.

Selecting "Automatic Node Number Assignment"

3 Select the COM port to which the communication cable is connected,

and click the [OK] button.

"Automatic Node Number Assignment" window

4 Check the cautions and click the [OK] button.Automatic node number assignment starts.

Confirmation message for starting automatic node number assignment

1

2

3



5 The message appears stating that the automatic node number assignment is completed.

The figures on the left side show the node numbers and the letters on the right mean the controllers' model names set for each node number.

"Automatic node number assignment completed" message

Controller model nameNode numbers after the assignment

6 Check the message and click the [OK] button.

NOTE

The node numbers will be assigned to the controller from "1" in order of distance starting from the controller nearest to the computer.

2.1.2 When controllers with same node number exist on networkIf you try to connect a computer with controllers when there exist some computers having the same node number in the daisy chain, the window for automatically assigning node numbers will appear. Follow the steps below to perform automatic node number assignment.

1 From the "File" menu, select "New" – "Connection...".The "New Connection" dialog box appears.

TIPYou can also click the [New Connection] button on the toolbar.

"New Connection" dialog box

2 Select the COM port to which the communication cable is connected, and click the [OK] button.


1

2

3



3 If there exist some computers having the same node number, the following warning message will appear.

Warning message

4 Click the [OK] button to perform automatic node number assignment.

5 Click the [OK] button when the message appears stating that the automatic node number assignment is completed.

The figures on the left side show the node numbers and the letters on the right mean the controllers' model names set for each node number.

"Automatic node number assignment completed" message

Controller model nameNode numbers after the assignment

6 The screen changes and the computer is connected to the controller with the node number 1.

The node number for the displayed controller appears next to the controller model name on the controller tree.

Controller tree

Communicating with TS-X controller with node number 01 and showing its information

1

2

3



2.2 Switching of controllersBy performing "Switch Controller", you can check and edit the information of the daisy-chained controllers from TS-Manager.

1 From the "File" menu, select "New" – "Connection...".The "New Connection" dialog box appears.

TIPYou can also click the [New Connection] button on the toolbar.

2 Select the COM port and click the [OK] button.

3 Click "Switch Controller" on the controller toolbar.

Controller toolbar "Switch Controller"

4 "Switch Controller" window appears.The node number, controller name, and user specified name of the currently connected controller are displayed. An asterisk (*) appears at the head of the controller whose data is currently displayed.

"Switch Controller" window

5 Select a controller whose data you want to display, and click the [OK]

button.If you add a daisy-chained controller after "New Connection" has been performed, all the controllers may not be displayed. In this case, click the [Research] button.


1

2

3



NOTE

If controllers having the same node number are recognized when "Research" is performed, the window appears asking whether to execute automatic node number assignment. In this window, clicking the [OK] button will start the assignment. If you do not require automatic node number assignment, click the [Cancel] button.

6 The screen changes and the computer is connected to the controller

with the node number 1.The node number appears next to the controller model name on the controller tree.

Controller tree showing selected controller

Switched to the controller with node number "3"

1

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3

3. Writing and transferring saved and newly made data


3. Writing and transferring saved and newly made dataThis section describes how to write or transfer data from a daisy-chained controller to an unconnected controller by using the TS-Manager.

NOTE

•

•

If a computer and a controller have already been connected, transfer and writing of data will be made to the currently connected controller.For details on how to write and transfer data to the controller, refer to the support software TS-Manager manual.

CAUTION

The daisy chain function cannot be used concurrently with the TS-Monitor (LCD monitor option). If the backup data with the LCD setting enabled is written, the communication may not be performed properly. If there is a possibility that such data was written by mistake, perform automatic node number assignment again to disable the LCD setting.

3.1 Writing data to controller

1 From the "Controller" menu, select "Write Data to Controller...".The "Write Data to Controller" dialog box appears.

TIPYou can also click the [Write] button on the toolbar.

Writing data to controller


1

2

3



2 Select the COM port to be connected to the controller, and click the

[OK] button.

"Write Data to Controller" window

3 "Node Select" window appears.Select a target controller for transferring data in this window.

"Node Select" window

Selecting controller with node number "5"

4 Click the [OK] button.If there is a possibility that all the controllers are not displayed, click the [Research] button.

NOTE


1

2

3



If the robot name set in the data to be transferred to the controller does not match that currently set in the controller, a confirmation message appears asking whether to continue data transfer. If you want to continue data transfer, click the [Yes] button.

Transfer confirmation message due to robot name mismatch

CAUTION

If the confirmation message stated above appears, check whether the robot name currently used is the same as that to be displayed as a destination.Please note that if they don't have the same name, clicking the [Yes] button may affect the operation.

5 When the message appears asking whether to execute data transfer,

click the [OK] button.Check the data name and target controller.

To stop data transfer, click the [Cancel] button.

"Data transfer confirmation" message

6 Data transfer starts.

7 When the message appears stating the transfer has been completed,

click the [OK] button.The data will be usable after you have turned the control power off and back on again. (Turning off the control power may not be necessary depending on the parameter to be written.)

"Data transfer completed" message


1

2

3



3.2 Transferring data to controller1 From the "File" menu, select "Transfer" - "PC to Controller..." command.

Transferring data to controller

2 The "Data Transfer [PC to Controller]" window appears.Clicking the [ ... ] button next to the "File Name" box will display the "Open" dialog box.

"Data Transfer [PC to Controller]" window

3 The "Open" window appears.

"Open" window

1

2

3



4 Select the file to transfer to a controller and click the [Open] button.The selected data file is displayed in the "File Name" box.

5 Select the COM port to be connected to the controller, and click the

[OK] button.When the controller to which you will transfer data is already connected, executing "Transfer" - "PC to Controller..." will display the COM port in use as follows.

"Data Transfer [PC to Controller]" window

If you have selected "COM port (in use)" in this window, the data will be transferred to the currently connected controller.

When you want to transfer data to a controller other than the currently connected one, either disconnect the connection or change the node number by performing "Switch Controller" first, and then execute data transfer again.

6 "Switch Controller" window appears.Select a target controller for transferring data in this window.

"Node Select" window

Selecting controller with node number "5"


1

2

3



7 Click the [OK] button.If there is a possibility that all the controllers are not displayed, click the [Research] button.

NOTE


If the robot name set in the data to be transferred to the controller does not match that currently set in the controller, a confirmation message appears asking whether to continue data transfer. Click the [Yes] button to continue data transfer.

Transfer confirmation message due to robot name mismatch

CAUTION

Please note that clicking the [Yes] button in the transfer confirmation message window may affect the operation.

If the controller information in the data to be transferred does not match the controller at the transfer destination, an error message appears and the data transfer will be canceled. Check the setting and then transfer the data again.

"Data transfer cancelled" message due to controller name mismatch

8 To perform data transfer, change the Run Mode to the Debug Mode.Click the [Yes] button to perform data transfer.

Mode change (Normal Mode to Debug Mode) confirmation dialog box

1

2

3



9 When the message appears asking whether to execute data transfer,

click the [OK] button.Check the data name and target controller.

To stop data transfer, click the [Cancel] button.

"Data transfer confirmation" message

0 Data transfer starts.

q When the message appears stating the transfer has been completed,

click the [OK] button.The data will be usable after you have turned the control power off and back on again. (Turning off the control power may not be necessary depending on the parameter to be written.)

"Data transfer completed" message

Index

Contents

Index (Controller) 1

Index (HT1) 3

Index 1

Index 1

Index (Controller)

A

Alarm

List ............................................................................6-2

Possible causes and actions ....................................6-3

Recording function ...................................................6-1

Alarm groups ............................................................6-1

Alarm No. output function .................................5-40

B

Basic specifications

Controller ..................................................................7-1

TS-Monitor ................................................................7-5

C

CC-Link ..................................................................7-3

CE marking ............................................................. iv

Changing the payload ........................................5-40

Communication command description ............. C-5

Edit commands ........................................................ C-9

Query commands .................................................. C-14

Robot operation commands .................................... C-5

Status change commands ....................................... C-8

Communication specifications .......................... C-2

Communication command specifications ................ C-2

Communication parameter specifications ............... C-2

Connecting

EXT connector ........................................................2-16

I/O signals ..............................................................2-15

I/O unit ....................................................................2-21

Regenerative unit ...................................................2-13

Robot ........................................................................2-8

Connecting the communication unit

Communication device ...........................................2-11

Dummy connector ..................................................2-12

HT1 .........................................................................2-10

D

Daisy chain

Automatic node number assignment function ......... D-6

Switching of controllers ......................................... D-10

Data overview .......................................................3-1

DeviceNet ..............................................................7-4

Dimensional outlines

Main body .................................................................7-2

Main body (TS-P with TS-Monitor) ...........................7-5

Regenerative unit (RGT) ..........................................7-7

Regenerative unit (RGU-2) .......................................7-7

I

Installation and operation sequence ..................1-4

Installation conditions .........................................2-3

Installation method ..............................................2-1

I/O interface specifications ..................................7-3

NPN ..........................................................................7-3

PNP ..........................................................................7-3

I/O signal list .........................................................4-6

I/O specifications

CC-Link type .............................................................4-2

Details ......................................................................4-7

DeviceNet type .........................................................4-4

NPN and PNP type ...................................................4-1

M

Magnetic pole position estimation ...................5-41

MANUAL mode ...................................................5-26

O

Operation modes ................................................5-38

Operation procedure ............................................5-1

Origin search ........................................................5-4

P

Parameter data .....................................................3-9

I/O parameters .......................................................3-10

Option parameters ..................................................3-10

Parameter details ...................................................3-12

RUN parameters ......................................................3-9

Servo parameters ...................................................3-11

Part names and functions

LED (CC-Link) ..........................................................1-2

LED (DeviceNet) ......................................................1-2

Main body .................................................................1-1

TS-Monitor ................................................................1-2

Point data ..............................................................3-2

Custom setting type ..................................................3-4

Details ......................................................................3-5

Standard setting type ...............................................3-3

Positioning operation ..........................................5-9

2 Index

R

Remote commands ............................................5-29

Parameter data reading ..........................................5-37

Parameter data writing ...........................................5-36

Point data reading ..................................................5-30

Point data writing ....................................................5-30

Query ......................................................................5-29

Special codes .........................................................5-31

Status .....................................................................5-31

Return-to-origin ....................................................5-4

S

Safety alert symbols and signal words ................ iii

Safety cautions ........................................................ x

Soft limit function ...............................................5-39

T

TS-Monitor ..........................................................5-42

CHECK screen .......................................................5-48

INFORMATION screen ...........................................5-45

I/O screen ...............................................................5-46

MAIN screen ...........................................................5-45

RUN screen ............................................................5-47

SETUP screen ........................................................5-48

Startup screen ........................................................5-44

STATUS screen ......................................................5-47

W

Warranty ................................................................. xv

Wiring

Connecting the robot ................................................2-8

Power supply connection .........................................2-4

Z

Zone output function .........................................5-39

Index 3

Index (HT1)

B

Basic specifications .......................................... H-47

C

Connecting to the controller .............................. H-7

D

Dimensional outlines ........................................ H-47

HT1 ........................................................................ H-47

HT1-D .................................................................... H-48

Disconnecting from the controller ..................... H-9

E

Editing the point data

Copying point data ................................................ H-23

Deleting point data ................................................ H-24

Displaying a list of point data ................................. H-25

Point teaching ........................................................ H-19

H

How to enter numbers ...................................... H-17

M

Menu structure .................................................. H-18

Monitor functions

Alarm display ......................................................... H-40

Alarm record display .............................................. H-43

Information display ................................................ H-44

I/O monitor ............................................................. H-37

Message display .................................................... H-42

Run monitor ........................................................... H-39

Status monitor ....................................................... H-38

Warning display ..................................................... H-41

O

Operating the robot ........................................... H-34

Operation key layout and functions ................ H-10

Operation mode ................................................. H-45

Origin search ..................................................... H-32

P

Panel layout ......................................................... H-3

Parameter setting

Setting IO parameters ........................................... H-28

Setting Option parameters .................................... H-29

Setting Run parameters ........................................ H-26

Setting Servo parameters ...................................... H-30

R

Resetting an alarm ............................................ H-36

Return-to-origin ................................................. H-32

S

Screen configuration ........................................ H-11

Setting mode

Changing the display language ............................. H-46

Starting to use the keys .................................... H-13

T

Turning the servo on or off ............................... H-31

W

What the HT1 does .............................................. H-2

Revision record

Manual version Issue date Description

Ver. 2.02 Dec. 2009 Some explanations were changed or added in the section "CE Marking". Explanations on the performance level were added to "2.10 Safety circuit construction example". Alarms (49, 91, 92, 93) were added. Some clerical errors were corrected, etc.

Ver. 3.00 Apr. 2010 The section on TS-Monitor (option) was added. Explanations on installation location was added. Some clerical errors were corrected, etc.

Ver. 4.00 Aug. 2010 The section on "Communication Command Guide" was added. The descriptions of the remote commands (Parameter writing, Parameter reading) were added. Some descriptions were changed or added regarding the addition of Regenarative unit (RGU-2). Some clerical errors were corrected, etc.

Ver. 5.00 Jan. 2011 The section on "Daisy Chain Guide" was added. Automatic node number setting (SETID) was added to the communication commands. "Alarm record display" was added to the monitor function of the HT1. The description regarding "Warranty" was changed. Clerical error corrections, etc.

Ver. 5.01 May 2011 Addition of parameters (speed switch function, switched speed) and I/O signal (SPD), etc.

© YAMAHA MOTOR CO., LTD. IM Operations

All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions. If you find any part unclear in this manual, please contact YAMAHA or YAMAHA sales representatives.

Robot Controller

User's Manual

TS-PMay 2011Ver. 5.01This manual is based on Ver. 5.01 of Japanese manual.

ts-pyamaha single-axis robot controller...• emc (electromagnetic compatibility) yamaha robots are...

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